LoaderControl 62443en2

GFZ-61443EN-2 B-61443EN-2
GE Fanuc CNC
Series 16/18/21 and 16i/18i/21i
Connection Manual (Loader Control)
Presented By: CNC Center

For Product Needs Please Visit:
http://www.cnccenter.com/
OR Email:
sales@cnccenter.com
OR Call:
1-800-963-3513
GE Fanuc CNC Manuals
www.cnccenter.com
GE Fanuc Automation
Computer Numerical Control Products
Series 16 / 18 / 21
Series 16i / 18i / 21i
Connection Manual (Loader Control))
GFZ-62443EN-2/03
August 1997
GFL-001
Warnings, Cautions, and Notes

as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or
may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
Copyright 1997 GE Fanuc Automation North America, Inc.

All Rights Reserved.
DEFINITION OF WARNING, CAUTION, AND NOTE
B62443EN2/03
DEFINITION OF WARNING, CAUTION, AND NOTE
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This manual includes safety precautions for protecting the user and preventing damage to the
machine. Precautions are classified into Warning and Caution according to their bearing on safety.
Also, supplementary information is described as a Note. Read the Warning, Caution, and Note
thoroughly before attempting to use the machine.
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WARNING
CAUTION
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Applied when there is a danger of the user being injured or when there is a damage of both the user
being injured and the equipment being damaged if the approved procedure is not observed.
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NOTE
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Applied when there is a danger of the equipment being damaged, if the approved procedure is not
observed.
The Note is used to indicate supplementary information other than Warning and Caution.
Read this manual carefully, and store it in a safe place.
s1
PREFACE
B62443EN2/03
PREFACE
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The Series 16/18/21 supports a loader control option that enables one
control unit to independently control both a machine and loader at the
same time. This option can be used with the CNC products listed below.
Applicable CNC units:
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Product name
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This manual is aimed at those users who intend to control a loader with
a CNC. It outlines the loader control option, and describes its connection,
operation, and maintenance. This manual assumes the reader to be
familiar with the standard Series 16, 18, or 21. If required, refer also to
the Series 16/18/21 manuals listed below.
16TA
FANUC Series 16TTA
16TTA
FANUC Series 16GCA
16GCA
FANUC Series 16MB
16MB
FANUC Series 16TB
16TB
FANUC Series 160MB
160MB
FANUC Series 160TB
160TB
FANUC Series 16MC
16MC
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FANUC Series 16TA
16TC
FANUC Series 160MC
160MC
FANUC Series 160TC
160TC
FANUC Series 16A
16A
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FANUC Series 16TC
FANUC Series 160A
160A
FANUC Series 18TA
18TA
FANUC Series 18TTA
18TTA
FANUC Series 18GCA
18GCA
FANUC Series 18MB
18MB
FANUC Series 18TB
18TB
FANUC Series 180MB
180MB
FANUC Series 180TB
180TB
FANUC Series 18MC
18MC
FANUC Series 18TC
18TC
FANUC Series 180MC
180MC
FANUC Series 180TC
180TC
FANUC Series 18A
18A
FANUC Series 180A
180A
FANUC Series 21TB
21TB
FANUC Series 21A
21A
FANUC Series 210A
210A
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Abbreviations
Series 16
Series 16
Series 18
Series 18
Series 21
Series 21
PREFACE
B62443EN2/03
In this manual, T series and M series refer to the loader control option
connected to the products indicated below.
M series
16MB/18MB/160MB/180MB
16MC/18MC/160MC/180MC
16MA/18MA/21MA
160MA/180MA/210MA
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T series
16TA/16TTA/16GCA
18TA/18TTA/18GCA
16TB/18TB
160TB/180TB
16TC/18TC
160TC/180TC
16TA/18TA
160TA/180TA
21TB
21TA/210TA
Series 16/18MODEL A
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Relative manuals
DESCRIPTIONS
FANUC Series 16/18
CONNECTION MANUAL
FANUC Series 16/18 For Lathe

FANUC Series 16/18
FANUC Series 16/18
Series 16/18/160/180MODEL B
FANUC Series 16/18/160/180MODEL B
B-61802E
B-61803E
OPERATORS MANUAL
B-61804E
MAINTENANCE MANUAL
B-61805E
PARAMETER MANUAL
B-61810E
DESCRIPTIONS
B-62442E
CONNECTION MANUAL (Hardware)
B-62443E
CONNECTION MANUAL (Function)
B-62443E1
FANUC Series 16/18/160/180TB
OPERATORS MANUAL
B-62444E
FANUC Series 16/18/160/180MB
OPERATORS MANUAL
B-62454E
MAINTENANCE MANUAL
B-62445E
PARAMETER MANUAL
B-62450E
FANUC Series 16/18/160/180MODEL C
DESCRIPTIONS
B-62752EN
B-62753EN
B-62753EN-1
FANUC Series 16/18/160/180TC
OPERATORS MANUAL
B-62754EN
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FANUC Series 16/18
FANUC Series 16/18/160/180MC
OPERATORS MANUAL
B-62764EN
MAINTENANCE MANUAL
B-62755EN
PARAMETER MANUAL
B-62760EN
Series 16/18/160/180MODEL C
p2
PREFACE
B62443EN2/03
Series 16i/18i/160i/180iMODEL A
FANUC Series 16i/18i/21i/160i/180i/210iMODEL A DESCRIPTIONS
FANUC Series 16i/18i/160i/180iMODEL A
B63002EN
B63003EN
FANUC Series 16i/18i/21i/160i/180i/210iMODEL A CONNECTION MANUAL (Function)
B63003EN1
FANUC Series 16i/18i/160i/180iTA
B63004EN
OPERATORS MANUAL
OPERATORS MANUAL
B63014EN
MAINTENANCE MANUAL
B63005EN
PARAMETER MANUAL
B63010EN
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FANUC Series 16i/18i/160i/180iMA

Series 21TB
DESCRIPTIONS
B-62702EN
FANUC Series 21/210
B-62703EN
FANUC Series 21/210
B-62703EN1
FANUC Series 21/210TB
OPERATORS MANUAL
B-62534E
FANUC Series 21/210
MAINTENANCE MANUAL
B-62705EN
FANUC Series 21/210
PARAMETER MANUAL
B-62710EN
Series 21i/210iMODEL A
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FANUC Series 21/210
FANUC Series 16i/18i/21i/160i/180i/210iMODEL A DESCRIPTIONS
B63002EN
FANUC Series 21i/210iMODEL A
B63083EN
FANUC Series 16i/18i/21i/160i/180i/210iMODEL A CONNECTION MANUAL (Function)
B63003EN1
FANUC Series 21i/210iTA
OPERATORS MANUAL
B63084EN
OPERATORS MANUAL
B63094EN
MAINTENANCE MANUAL
B63085EN
PARAMETER MANUAL
B63090EN
FANUC Series 21i/210iMA

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Table of contents
B62443EN2/03
DEFINITION OF WARNING, CAUTION, AND NOTE . . . . . . . . . . . . . . . . . . . . . . . . . . s1

PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . p1
1. OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SYSTEM CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2
INSTALLING THE LOADER CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3
TABLE OF SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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1.1
2. CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1
TOTAL CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
2.2
LOADER CONTROL BOADER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
CONNECTING THE LOADER OPERATORS PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
I/O SIGNAL CONNECTION FOR MAIN LOADER UNIT CONTROL . . . . . . . . . . . . . . . . . . . . .
18
2.4.1
2.4.2
2.4.3
2.5
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
19
20
SERVO SYSTEM CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
2.5.1
2.5.2
2.5.3
2.5.4
2.5.5
2.5.6
2.6
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Amplifier Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pulse Coder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brake Drive Output Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Battery Interface for Absolute Pulse Coder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EMERGENCY STOP SYSTEM CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1
2.6.2
2.6.3
2.7
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15
15
16
17
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2.4
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Matrix Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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2.3.1
2.3.2
2.3.3
2.3.4
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency Stop System Connection (When a C Series Servo Amplifier is Used) . . . . . . . . . . . . . . .
Emergency Stop Control Circuit Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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2.3
WORKPIECE FEEDER CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8
30
30
32
33
34
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
34
34
DI/DO INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
2.7.1
2.7.2
2.7.3
22
23
26
28
29
29
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Loader Control Board Builtin I/O Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signals for Interfacing with the Loader Control CNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DI/DO Signals (Function by Function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DI/DO Signals (In Order of Addresses) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
37
39
40
46
3. CONNECTING THE LOADER CONTROL BOARD OF

THE SERIES 16i/18i/21i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
2.8.1
2.8.2
2.8.3
2.8.4
2.8.5
3.1
OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
62
3.2
CONNECTION BETWEEN UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
63
3.3
LOADER CONTROL BOARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
3.4
CONNECTING AN I/O LINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
3.5
SERVO INTERFACE (FSSB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
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Table of Contents
DI/DO INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1
3.6.2
3.6.3
67
68
72
LOADER I/O BOARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
86
86
86
3.7.3
3.7.2.2 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting an I/O Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.3.1 Addressing an I/O Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
87
87
3.7.4
3.7.3.2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the Loader Operators Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
88
88
3.7.6
3.7.7
3.7.8
3.7.9
3.7.4.2
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.4.3
Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3.7.5
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Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2.1 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.4.4 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the I/O Signals for Loader Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3.7.1
3.7.2
3.7.5.2
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.5.3
Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.5.4 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting a Workpiece Feeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.6.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
89
90
90
90
91
92
93
93
3.7.6.2
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
94
3.7.6.4 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting an Emergency Stop System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
96
96
3.7.7.2
96
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.7.3 Sample Connection of Emergency Stop System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O Address Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.9.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation space and mounting holes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.9.2
3.7.9.3 Mounting on a DIN rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Other Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.10
88
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3.7.6.3
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3.7
67
Interface Signals for the Loader Control CNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DI/DO Signals (Function by Function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DI/DO Signals (In Order of Addresses) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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98
99
99
99
100
100
100
4. OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
MDI KEY OPERATION FOR LOADER CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1
4.1.1
4.1.2
4.2
102
102
STARTING THE LOADER CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
4.2.1
4.2.2
4.2.3
4.2.4
4.3
Boot System for Series 16/18MODEL B/C and Series 21TB, Series 16i/18i/21iMODEL A . . . . .
Starting the NC and Loader Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
When Loader Control is Added . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special Parameters to be Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
107
109
110
PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
111
4.3.1
4.4
102
Screen Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Poweron . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
G Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
111
LOADER CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
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4.4.1
4.4.2
4.4.3
4.4.4
Multipath Wait Function with M Code (T Series Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Creating Programs In Teach In Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LoaderNC Communication Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Loader Control Selection Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
117
120
121
5. MAINTENANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
LOADER CONTROL BOARD LED DISPLAY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED Display Transition at Powerup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED Display When an Error Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
123
123
LED DISPLAY ON THE LOADER CONTROL BOARD OF THE SERIES 16i/18i/21i . . . . . . . . .
124
5.2.1
5.2.2
5.2.3
5.3
Position of LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED Display Transition at PowerUp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED Display When an Error Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
124
124
125
PC BOARD CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
126
5.3.1
5.3.2
5.3.3
Series 16/18MODEL A Loader Control Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Series 16/18MODEL B Loader Control Board Based on the Main A Specification . . . . . . . . . . . . .
Series 16/18MODEL B Loader Control Board Based on the Main B Specification
and Series 21 Loader Control Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Series 16/18MODEL C Loader Control Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
126
127
CONFIGURATION OF LOADER CONTROL BOARD OF THE SERIES 16i/18i/21i . . . . . . . . . .
130
5.3.4
5.4
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5.1.1
5.1.2
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5.1
APPENDIX
128
129
A. PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
A.1
A.2
PARAMETERS CLASSIFIED ACCORDING TO FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . .
134
DETAILS OF PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
150
Parameters Related to Loader Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameters Related to Custom Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Multipath Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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A.2.2
A.2.3
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150
151
152
1. OVERVIEW
B62443EN2/03
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OVERVIEW
1. OVERVIEW
B62443EN2/03
1.1
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SYSTEM
CONFIGURATION
The loader control option is connected to the Series 16/18/21 as shown

below.
Axis control for the machine is performed by the main CPU board, while
that for the loader is performed by a dedicated Loader Control Board
(LCB). The PMC of the main CPU unit (option 3 board when a PMCRC
is used) controls the machine, while the PMC of the LCB controls the
loader. Input/output signals are stored in the LCB, and are fed directly to
the main loader unit, workpiece feeder, and loader operators panel.
The major tasks involved in building this system are:
(1) Adding the loader control board (LCB) to the CNC (using one slot
exclusively).
(2) Mounting and wiring servo amplifiers and an emergency stop control
circuit in the power magnetics cabinet.
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(3) Connecting the loader to the workpiece feeder via cables.

(4) Connecting the operators panel.
(5) Creating loader control related functions by using PMC programs.
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(6) Creating palletizing and teaching functions by using macros.

(7) Creating (teaching) the loader operation programs.
Machine
Main CPU
Servo
amplifier
Loader
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Axis control
for
machine side
I/O
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PMC
LCB
Work
feeder
Servo
amplifier
Axis control
for
loader side
Emergency
stop control
circuit
PMC
Loader
operators panel
Series
16/18/21/16i/18i
/21i Control unit
1. OVERVIEW
B62443EN2/03
1.2
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INSTALLING THE
LOADER CONTROL
FUNCTIONS
When the loader control option is installed and used in a system, sequence
control is required to enable interfacing with the peripherals, as well as
for loader operation. Generally, the required control specifications vary
from one system to another. So, the functions required for each system
must be installed. In practice, the PMC and macro executor are used to
implement the required functions.
The PMC that is built into the loader control board performs the sequence
logic required to control the loader. The PMC supports functions
equivalent to the PMCRA1 of the Series 18.
Between the loader control CPU and the PMC, an F/G area interface is
provided, in the same way as for an ordinary CNC. The loader supports
modes similar to those supported by an ordinary NC. For example,
manual mode must be set for manual loader operation, and memory mode
must be set for automatic loader operation. In addition, a specified speed
can be overridden by entering the DI override signal. Thus, loader
operation requires the use of ladder programs, in the same way as an
ordinary NC.
The PMC is also used to enable synchronous operation of the machine and
loader. For example, the PMC is used to start the loader when machining
ends, and to start machining once the loader has fed the workpiece into
the chuck of the machine.
Using custom macros or a macro executor, very complicated loader axis
operations, such as workpiece palletizing/depalletizing, can be
programmed easily. In some cases, complicated workpiece feeder control
operations can be simplified by using macros. Macrobased control
reduces the number of PMC steps, making macrobased control
advantageous even when the PMC is being used at maximum capacity.
Even for macrobased control, however, DI/DO signal transfer must be
programmed using the PMC. Note that the loader control macro
programs are provided in a ROM module in the case of the Series
16/18MODEL A, and in an FROM (flash memory) module in the case
of the Series 16/18MODEL B/C. The ROM or FROM module is
installed on the loader control board.
In the case of the Series 21, the loader control macro programs are
provided in an FROM (flash memory) module, installed on the main
board.
In the case of the Series 16i/18i/21i, the loader control macro programs
are provided in an FROM (flash memory) module, installed on the
motherboard.
The following table lists typical operations to which the PMC and macro
executor can be applied.
1. OVERVIEW
B62443EN2/03
PMC
f
Control of the loader mechanical unit

(such as braking)
Hand control (such as open/close, air blow)
Operations that must be synchronized with the

machine (such as activation and waiting)
Workpiece feeder control
Palletizing/depalletizing
Loader operators panel
Customized program screen
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Loader operations
(such as mode setting, activation, and overriding)
Macro
executor
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The DI/DO signals listed below are used for loader control. These DI/DO
signals are stored in the loader control board. In an application system
that requires additional DI/DO signals, an I/O link interface is available
to enable external I/O expansion.
The loader control board of the Series 16i/18i/21i does not use these
DI/DO signals. All DI/DO signals are connected via an I/O link interface
to an external input/output unit.
Loader control (overtravel, hand open/close, air on/ off, etc.)
Workpiece feeder control (moving the workpiece feeder back and forth)
Loader operators panel control (teaching, emergency stop)
Brake control (brake application for emergency stop)
1. OVERVIEW
B62443EN2/03
1.3
TABLE OF
SPECIFICATIONS
Item
Specifications
Controlled axis
Up to a maximum of 4 axes at a time (up to 4 axes

are allowed as standard)
Part program storage

length
10m
40m (option 2)
80m (option 3)
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20m (option 1)
Programs
Up to 63 programs can be registered.
PMC
PMCRA1
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Number of ladder steps

3000 (option 4)
4500 (option 5) . . For Series 16/18MODEL A

5000 (option 5) . . . For Series 16/18MODEL B/C,
Series 21TB,Series 16i/18i/21i
Channel 1 of the main CPU board is used.
(option 6)
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RS232C
Floppy cassette directory indication

(option 7)
Manual handle
For first unit
(option 8)
For second unit
(option 9)
For third unit
(option 9) (Only for M series)
MPG of the main CPU board is used.

(For Series 16/18)
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MPG of the I/O board is used. (For Series 21)
G code system
(T series only)
G code system A
Axis name
X, Y, Z, A, B, C (M series, T series)
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w
MPG of the motherboard is used.

(For Series 16i/18i/21i)
No G code system is used with the M series.
U, V, W (Only for M series)
The T series is used with G code system A, such
that U, V, and W are used as addresses for incremental commands.
Command and type

(M series only)
Incremental command G90
Plane selection
XpYp Plane selection G17
Absolute command G91

ZpXp Plane selection G18
YpZp Plane selection G19
Input unit
Metric or inch system can be selected by parameter

specification.
Inch/metric switch G20/G21 (option 10)
Increment system
0.001mm, 0.001deg or 0.0001inch (ISB)
Rapid traverse
(positioning)
Positioning G00
Positioning, either of noninterpolation type or linear interpolation type, can be selected by specifying
a parameter.
1. OVERVIEW
B62443EN2/03
Item
Specifications
Cutting feed
Linear interpolation G01

Circular interpolation G02, G03
Cutting feedrate clamp
Feed per minute
Override
Manual feedrate override

Rapid traverse override
Rapid traverse override 1% step
Feedrate override
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2nd feedrate override (option 11)
The Series 21, Series 21i does not support the 2nd
feedrate override function.
Rapid traverse
G00
Linear acceleration/deceleration
Cutting feed
G01
Exponential acceleration/deceleration
Linear acceleration/deceleration after interpolation
(option 13) ... For Series 16i/18i
Dwell G04
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Dwell
Bellshaped acceleration/deceleration (option 12)
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Automatic
acceleration
deceleration
Reference position return Automatic reference position return G28

Reference position return check G27
2nd reference position return G30
3rd, 4th reference position return (option 14)
Manual reference position return
Coordinate system
Coordinate system selection G92 (M series),

G50 (T series)
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Automatic coordinate system setting

Workpiece coordinate system shift
Direct input coordinate system shift
Machine coordinate system selection G53
(option 15)
Local coordinate system G52 (option 15)
Workpiece coordinate system G54 to G59
(option 15)
Decimal point input
Decimal point input

Pocket calculator type decimal point input
Optional block skip
Signal BDT1
Signal BDT2 to BDT9 (option 16)
Compensation function
Backlash compensation
Pitch error compensation max/1024 points
(option 17)
Measurement
SKIP function SKIP signal
Auxiliary function
Auxiliary function (M function)

1 block multiple M command
Programmable parame- G10 (option 18)

ter input
G11
1. OVERVIEW
B62443EN2/03
Item
Specifications
Macro
Macro executer (option 19)

Custom macro B (option 20)
Common variables addition (macro B)
(option 21)
Interruption type custom macro (option 22)
Editing
Playback function (option 23)

Extended part program (option 24)
English
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Language display
Japanese (option 25)
If the NC issues an alarm, automatic operation is not

activated. Note, however, that automatic operation
of the NC is not affected by an alarm issued by the
loader.
Overtravel stroke limit
Hardware OT (can be disabled by parameter setting)
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Automatic operation
Stored stroke limit 1
Stored stroke limit 2 (option 26)
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Stored stroke limit 3 (option 26)

(Only for T series)
Overtravel alarms (ALM 500 and 501) based on

stored stroke limit 1 are automatically released by
movement back along the axis to a point that does
not exceed the limit.
External key input
External key input
External message/ Exter- External alarm message (option 27, 28)

nal data input
External operator message (option 27, 28)
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External program number search (option 28)
External machine coordinate system shift

(option 28)
4 path control (option 29)
Position switch
Position switch function (option 30)
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PMC axis control
Multiple path waiting By specifying an M code from the NC and loader, a

function M code function wait operation can be performed.
(Only for T series)
Abnormal load detection
Abnormal load detection function (option 31)
External deceleration
External deceleration (option 32) ... For Series

16i/18i
External workpiece coordinate system shift

(option 28)
1. OVERVIEW
B62443EN2/03
NOTE
To use those functions for which option numbers are indicated, the following options are
required.
Part program storage length 20m
PMC Ladder 3000 step
PMC Ladder 4500 step (For Series 16/18MODEL A)
PMC Ladder 5000 step (For Series 16/18MODEL B/C, Series 21TB,
Series 16i/18i/21i)
Reader Puncher control 1
Directory display of floppy cassette
Manual handle 1 unit control
Manual handle 2 or 3 units control
(The use of the second and third units requires option 8 for the first unit.)
Inch/metric conversion
2nd feedrate override
(The Series 21, Series 21i does not support the 2nd feedrate override option.)
Rapid traverse bellshaped acceleration/deceleration
Cutting feed linear acceleration/deceleration after interpolation
(For Series 16i/18i)
3rd/4th reference position return
Workpiece coordinate system
Addition of optional block skip
Stored pitch error compensation
Programmable data input
Macro executer
Custom macro B
Addition of custom macro common variables
Interruption type custom macro
Playback
Extended part program editing
Japanese display
Extended stored stroke check
External message
External data input
(When the external data input option is selected, the external message option is
not required.)
PMC axis control by PMC
Position switch function
Abnormal load detection function
External deceleration (For Series 16i/18i)
Option 12
Option 13
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Option 14
Option 15
Option 16
Option 17
Option 18
Option 19
Option 20
Option 21
Option 22
Option 23
Option 24
Option 25
Option 26
Option 27
Option 28
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Option 10
Option 11
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Option 6
Option 7
Option 8
Option 9
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Option 1
Option 2
Option 3
Option 4
Option 5
Option 29
Option 30
Option 31
Option 32
2. CONNECTION
B62443EN2/03
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CONNECTION
2. CONNECTION
B62443EN2/03
2.1
TOTAL CONNECTION
When the Series 16/18MODEL A loader control board, or the Series

16/18MODEL B loader control board based on the main A specification
is used:
Servo check board

interface
Loader control
board
Emergency
stop control circuit
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Brake rectifier
EMG(24V)
CHECK(JA8C)
100VAC
GND
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ESP(CNPW)
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BRAKE(CNBK)
APC battery
APCBAT(JA4A)
6V
Control unit
series servo amp. module #1
AMP1(JV1)
AMP2(JV2)
Loader
main body
JV1B
UL, VL, WL, GL
1st axis
servo motor
JV2B
UM, VM, WM, GM
2nd axis
servo motor
Serial pulse coder
AMP3(JV3)
JV1B
UL, VL, WL, GL
3rd axis
servo motor
JV2B
UM, VM, WM, GM
4th axis
servo motor
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AMP4(JV4)
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See 2.5 for connection

details of servo
ENC(CRF1)
Overtravel limit
24V
Actuator
sensor
RDIO(CRM1)
Actuator
sensor
TP(CNTP)
SW, LED
WF(CNWF)
Workpiece
feeder
Operators panel
for loader
For increase I/O

FANUC I/ O Link
IOLINK(JD1A)
24V
Power supply
JD1A
JD1B
Corresponded
I/O LINK
DI/DO
PCR series
20pins connector
Another connector
10
2. CONNECTION
B62443EN2/03
When the Series 16/18 loader control board based on the main B
specification, Series 16/18MODEL C or Series 21 loader control board
is used
Servo check board

interface
Loader control
board
Emergency
stop control circuit
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Brake rectifier
EMG(24V)
CHECK(JA8C)
100VAC
GND
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ESP(CNPW)
BRAKE(CNBK)
APCBAT(JA4A)
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APC battery
6V
Control unit
AMP1(JS1A)
AMP2(JS2A)
JS1B
JS2B
Loader
main body
1st axis
servo motor
UL, VL, WL, GL

JF1
UM, VM, WM, GM

JF2
2nd axis
servo motor
Serial pulse coder
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AMP3(JS3A)
JS1B
AMP4(JS4A)
JS2B
3rd axis
servo motor
UL, VL, WL, GL

JF1
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UM, VM, WM, GM

JF2
See 2.5 for connection
details of servo
4th axis
servo motor
Overtravel limit
24V
Actuator
sensor
RDIO(CRM1)
Actuator
sensor
TP(CNTP)
SW, LED
WF(CNWF)
Workpiece
feeder
Operators panel
for loader
For increase I/O

FANUC I/ O Link
IOLINK(JD1A)
24V
Power supply
JD1A
JD1B
Corresponded
I/O LINK
DI/DO
PCR series
20pins connector
Another connector
11
2. CONNECTION
B62443EN2/03
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BRAKE (CNBK)
Brake drive output
ESP
(CNPW)
Emergency stop control interface
TP
(CNTP)
Operators panel interface
WF
(CNWF)
Workpiece feeder interface
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LOADER CONTROL
BOADER
In common with the other control PC boards of the Series 16/18, the
loader control board is mounted in the control unit. One slot is used
exclusively for the loader control board. Any slot other than slot 1 can
be used.
Layout of Series 16/18MODEL A loader control board
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2.2
FANUC I/O LINK
CHECK (JA8C)
Servo check board interface
APCBAT(JA4)
Battery for ABS pulse coder
AMP1
(JV1)
1st axis servo amp. interface
AMP2
(JV2)
2nd axis servo amp. interface
AMP3
(JV3)
3rd axis servo amp. interface
AMP4
(JV4)
4th axis servo amp. interface
ENC
(CRF1)
Pulse coder interface
RDIO
(CRM1)
DI/DO
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IOLNK (JD1A)
12
2. CONNECTION
B62443EN2/03
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Panel layout of the Series 16/18MODEL B loader control board based

on the main A specification
Brake drive output
ESP
(CNPW)
TP
(CNTP)
WF
(CNWF)
r.c
BRAKE (CNBK)
FANUC I/O LINK
ce
nt
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IOLNK (JD1A)
CHECK (JA8C)
APCBAT(JA4)
Battery for ABS pulse coder

Memory card interface (Use for ladder editing)
AMP1
(JV1)
AMP2
(JV2)
AMP3
(JV3)
AMP4
(JV4)
nc
(CNMC)
(CRF1)
Pulse coder interface
RDIO
(CRM1)
DI/DO
.c
ENC
13
2. CONNECTION
B62443EN2/03
om
Panel layout of the Series 16/18MODEL B loader control board based

on the main B specification, Series 16/18MODEL C loader control
board, or Series 21 loader control board
Brake drive output
ESP
(CNPW)
TP
(CNTP)
WF
(CNWF)
r.c
BRAKE (CNBK)
FANUC I/O LINK
CHECK (JA8C)
ce
nt
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IOLNK (JD1A)
Memory card interface (Use for ladder editing)
AMP1
(JS1A)
AMP2
(JS2A)
AMP3
(JS3A)
AMP4
(JS4A)
RDIO
(CRM1)
DI/DO
.c
nc
(CNMC)
14
2. CONNECTION
B62443EN2/03
2.3
CONNECTING THE
LOADER
OPERATORS PANEL
2.3.1
The loader operators panel is used to jog the loader and perform teaching.
For the loader operators panel, the I/O signals described below are stored
on the loader control board.
DI = 8 points (+24 V contact signal input)

DO = 6 points (LED drive sink output)
DO = 4 points (common voltage drive source output)
DI = 1 point
(+24 V contact signal input, emergency stop input signal)
These I/O signals are used for loader operators panel switch input and
driving LED indicators.
The common voltage drive source output is provided to interface with
switches and LEDs connected in matrix format. The use of a matrix
format enables the number of input and output points to be increased to
32 and 24, respectively. In this case, the system software supports control
of the common voltage drive source output for matrix scanning, so that
no PMC program is required. Bit 1 of parameter No. 7902 is used to
specify whether to use a matrix connection.
2.3.2
Connector
Connector pin layout on the loader control board
nc
CNTP (MR20pin, male)
ce
nt
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r.c
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Outline
.c
14
TDO01
8
15
TDO02
16
TDO03
17
TDO04
9
10
18
TDO06
20
TDI08
15
TDI02
TDI03
TDI04
TDI05
TDI06
TDI07
TCOM3
11
TCOM4
12
*ESPTP1
13
TDI01
TCOM2
TDO05
19
1
TCOM1
*ESPTP2
2. CONNECTION
B62443EN2/03
2.3.3
Signals
[Classification]
[Function]
Common voltage drive

output signals
TCOM1 to TCOM4
[Classification]
[Function]
nc
[Classification]
[Function]
.c
Emergency stop input

signals
*ESPTP1, *ESPTP2
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Operators panel output

signals
TDO01 to TDO06
Contact signal input, tied to common 24 V

These signals, used with common voltage drive
source output signals TCOM1 to TCOM4, are used
to scan a key matrix. In this case, key scanning for
up to 32 (8 x 4) keys can be performed. When no
matrix is used, TDI01 to TDI08 can be used as
individual DI signals.
Transistor sink output, 24 V/200 mA load
These signals, used with common voltage drive
source output signals TCOM1 to TCOM4, are used
to scan an LED matrix. In this case, dynamic on/off
control can be applied to up to 24 (6 x 4) LEDs at
16msec intervals with a duty cycle of 4:1. See
Section 2.4 for details of the required connection.
When no matrix is used, TDO01 to TDO06 can be
used as individual DO signals.
Transistor source output, 24 V/200 mA load
These signals are used to drive the common voltage
signals when a matrix is created. When these signals
are set to 1 by the PMC, 24 V is output to the signal
pin. This signal can drive up to 8 contact signal
inputs and up to 6 LEDs. The total load current,
however, must not exceed 200 mA. To drive the
contact signal inputs, 8 mA/point is required. This
means that up to 22 mA can be drawn by each LED.
When a matrix is not used, TCOM1 to TCOM4 can
be used as individual DO (source output) signals.
Contact signal input used for emergency stop
The contact signal from the emergency stop button
on the operators panel is connected in series with
*LOT within the board to drive the externally
mounted emergency stop relay. See Section 2.5 for
details of this connection. Connect contact B of the
emergency stop button on the loader operators panel
to *ESPTP1 and *ESPTP2.
If this connection is broken, the loader performs an
emergency stop. When this connector is not used,
install a dummy connector to enable signal
processing, as shown below.
r.c
[Classification]
[Function]
ce
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Operators panel input

signals
TDI01 to TDI08
*ESPTP1 (12)
*ESPTP2 (13)
Dummy connector
16
2. CONNECTION
B62443EN2/03
2.3.4
Matrix Configuration
+24V
Loader control board
Driver
TCOM4
TCOM2
TCOM1
Reciever
24
32
23
31
14
22
30
SW05
13
21
29
SW04
12
20
28
SW03
11
19
27
SW02
10
18
26
SW01
09
17
25
R LED06
12
18
24
R LED05
11
17
23
R LED04
10
16
22
R LED03
09
15
21
R LED02
08
14
20
R LED01
07
13
19
TDI08
16
SW07
15
SW06
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SW08
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TCOM3
TDI07
R
TDI06
R
TDI05
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TDI04
TDI03
TDI02
TDI01
0V
nc
TDO06
TDO05
TDO04
.c
TDO03
TDO02
TDO01
0V
SW
17
LED
2. CONNECTION
B62443EN2/03
2.4
I/O SIGNAL
CONNECTION FOR
MAIN LOADER UNIT
CONTROL
2.4.1
I/O signals used for controlling the main loader unit are stored in the
loader control board.
DI = 6 points (contact signal input, general purpose)

DO = 8 points (sink output, general purpose)
DI = 1 point (+24 V contact signal input, emergency stop input signal)
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Outline
.c
nc
ce
nt
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r.c
For operations such as opening/closing the hand on the tip of the loader
and air blow control, 6 DI points and 8 DO points are provided. The
emergency stop input signal stops the loader immediately in situations
such as loader overtravel (detected by hardware) or hand destruction.
18
2. CONNECTION
B62443EN2/03
2.4.2
Connector
CRM1
(MR50pin, female)
LDI01
LDI02
LDI03
33 LDO01
34 LDO02
35 LDO03
20
LDI06
21
LDI05
36 LDO04
ce
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LDI04
*LOT
r.c
19
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Connector pin layout on the loader control board
37 LDO05
22 COMLD
38 LDO06
23 COMWF
39 LDO07
24
40 LDO08
.c
nc
25
FDI01
10
FDI02
26
12
42 FDO02
27
11
13
41 FDO01
14
0V
43 FDO03
FDI03
28
0V
29
0V
30
0V
44 FDO04
FDI04
45 FDO05
FDI05
46 FDO06
FDI06
31 +24E
15
47 FDO07
FDI07
32 +24E
19
16
FDI08
48 FDO08
17
0V
49 +24E
18
0V
50 +24E
2. CONNECTION
B62443EN2/03
2.4.3
Signals
Generalpurpose input
signals
LDI01 to LDI06
[Classification]
[Classification]
[Function]
nc
signal common voltage
selection
COMLD
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r.c
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[Function]
Contact signal input

LDI01 to LDI04 can be switched between 24 V
common voltage and 0 V common voltage. LDI05
and LDI06 are tied to 24 V common voltage.
Six input signals are provided as interface signals.
These can be used, for example, for checking whether
the hand mounted on the tip of the loader is open or
closed. These signals can be used for general purpose
applications, depending on the function demanded of
the mechanical unit of the loader. When an
incremental pulse coder is used, and a reference
position return operation is needed, LDI01 to LDI04
are used as deceleration signals *DEC1 to *DEC4.
These signals are directly referenced by the CNC that
exercises loader control. When, however, skip
operation is not required, the PMC can use these
signals for general purpose applications.
Common voltage selection
When COMLD is connected to 0V, LDI01 to LDI04
function as 24 V common voltage input signals.
When COMLD is connected to +24E, LDI01 to
LDI04 function as 0 V common voltage input
signals. Note that the signal polarity also changes
accordingly. That is, when LDI01 to LDO04 are
functioning as 24 V common voltage signals, logic
1 corresponds to the contact being closed; when
LDI01 to LDO04 are functioning as 0 V common
voltage signals, logic 0 corresponds to the contact
being closed.
For the control of operations such as opening/closing
the hand mounted on the tip of the loader and air
blow, 8 output signals are provided. These signals
can be used for general purpose applications as
required.
[Classification]
[Function]
.c
Generalpurpose output
signals
LDO01 to LDO08
20
2. CONNECTION
B62443EN2/03
Loader overtravel signal

*LOT
[Classification]
[Function]
[Classification]
[Function]
.c
nc
selection for the
workpiece feeder
COMWF
[Classification]
ce
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Generalpurpose
workpiece feeder input
signals
FDI01 to FDI08
[Classification]
[Function]
Generalpurpose
workpiece feeder output
signals
FDO01 to FDO08
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[Function]
Contact signal input used for emergency stop, tied to

common 24 V
The emergency stop input signal stops the loader
immediately in situations such as loader overtravel
(detected by hardware) or hand destruction. B
contact point input is assumed. So, ensure that 24 V
is applied in the normal state. When this DI signal is
read in the normal state, a value of 1 is read. When
this signal is turned off (when the contact opens), this
DI signal changes to 0, and the *EMG1 signal of the
CNPW connector is turned off. Then, the externally
mounted emergency stop control relay is turned off
to shut down the MCC of the servo system. This
shutdown state continues for as long as *LOT is off.
To enable this state to be released temporarily, the
OTR signal is provided. See Section 2.6 for further
information.
Contact signal input, switchable between common
24 V and 0 V
For workpiece feeder interfacing, 8 input signals are
provided. These signals can also be used for general
purpose applications, depending on the function
demanded of the mechanical unit of the loader.
However the skip function is used, FDI08 is used as
skip signal. Skip operation is no required, FDI08 can
be used for general applications. These signals are
also applied to a separate connector, CNWF,
connected in parallel.
When COMWF is connected to 0V, FDI01 to FDI08
When COMWF is connected to +24E, FDI01 to
FDI08 function as 0 V common voltage input
accordingly. That is, when FDI01 to FDI08 are
FDI01 to FDI08 are functioning as 0 V common
being closed. This signal is also applied to a separate
connector, CNWF, connected in parallel.
For workpiece feeder interfacing, 8 output signals are
purpose applications, depending on the function
demanded of the mechanical unit of the loader. These
signals are also applied to a separate connector,
CNWF, connected in parallel.
21
2. CONNECTION
B62443EN2/03
2.5
SERVO SYSTEM
CONNECTION
2.5.1
The tables below list the connectors used to connect the servo system.
Outline
Controlled
axis
number
Servo command
JV1
JV2
JV3
JV4
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When using the Series 16/18MODEL A loader control board, or

the Series 16/18MODEL B loader control board based on the
main A specification
Connector
Brake control
r.c
Feedback signal
ce
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CRF1
(common to 4 axes)
CNBK
(common to 4 axes)
When using the Series 16/18MODEL B loader control board

based on the main B specification, Series 16/18MODEL C loader
control board, or Series 21 loader control board
Controlled
axis
number
Servo command
JS1A
JS2A
JS3A
JS4A
.c
nc
Connector
22
Feedback signal
Brake control
Connected to the
servo amplifier
am lifier module
CNBK
(common to 4 axes)
2. CONNECTION
B62443EN2/03
2.5.2
Servo system connection when using the C series servo amplifier
Connection Diagram
Servo command
cable
CN1L
UL, VL, WL, GL
AMP2 (JV2)
CN1M
UM, VM, WM, GM

100A, 100B
L1, L2, L3, PE
Servo command
Servo amp. for A,C axis
cable
3 axis 4 axis
UL, VL, WL, GL
CN1L
CN1M
AMP4 (JV4)
UM, VM, WM, GM
AC
Servo
motor
4
ce
nt
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100A, 100B
L1, L2, L3, PE
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AMP1 (JV1)
AMP3 (JV3)
Loader mechanical
unit
Motor
power
C series servo amp.
r.c
1 axis 2 axis
LCB board
Brake
power
Brake control output

BRAKE (CNBK)
Emergency stop
control circuit
ESP (CNPW)
ENC (CRF1)
Battery
box
.c
APCBAT (JA4A)
See 2.6 for detail
nc
Serial pulse coder

feedback signal
CHECK (JA8C)
23
200VAC
3
L1, L2, L3, PE
External emergency
stop contact signal
2. CONNECTION
B62443EN2/03
Servo system connection when using the series servo amplifier (type
A interface)
Servo command
cable
series servo amp.
1 axis 2 axis
SVM
JV1B
UL, VL, WL, GL
AMP2 (JV2)
JV2B
UM, VM, WM, GM
TB1
CX2A
JX1A
Servo command
cable
3 axis 4 axis
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AMP1 (JV1)
Loader mechanical
unit
Motor
power
SVM
TB1
CX2B
JX1B
AMP3 (JV3)
JV1B
UL, VL, WL, GL
AMP4 (JV4)
JV2B
UM, VM, WM, GM

CX2A
JX1A
ce
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TB1
r.c
LCB board
AC
Servo
motor
4
Brake
power
PSM
TB1
CX2B
JX1B
CX4
Emergency stop
connected point
CX1A (200R, S, PE)

TB2
CX3
(L1, L2, L3, PE)
Breaker
nc
Power supply for MCC
AC reactor
.c
BRAKE (CNBK)
ESP (CNPW)
Emergency stop
control circuit
See 2.6 for detail
Serial pulse coder

feedback signal
ENC (CRF1)
MCC
APCBAT (JA4A)
Battery
box
CHECK (JA8C)
24
200VAC
3
(L1, L2, L3, PE)
External emergency
stop contact signal
2. CONNECTION
B62443EN2/03
Servo system connection when using the series servo amplifier (type
B interface)
Servo command
cable
series servo amp.
SVM
Loader mechanical
unit
Motor
power
AMP1 (JS1A)
JS1B
UL, VL, WL, GL
AMP2 (JS2A)
JS2B
UM, VM, WM, GM

JF1
TB1
JF2
JX1A
AC
Servo
motor
4
SVM
TB1
CX2B
r.c
Servo command
cable
3 axis 4 axis
CX2A
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1 axis 2 axis
LCB board
JX1B
JS1B
UL, VL, WL, GL
AMP4 (JS4A)
JS2B
UM, VM, WM, GM

JF1
Brake
power
ce
nt
e
AMP3 (JS3A)
JF2
TB1
CX2A
Serial Pulsecoder
Feedback Signal
JX1A
PSM
TB1
CX2B
JX1B
CX4
Emergency stop
contact
CX1A (200R, S, PE)
TB2
(L1, L2, L3, PE)
CX3
nc
Breaker
Power supply for MCC
.c
AC reactor
MCC
BRAKE (CNBK)
ESP (CNPW)
CHECK (JA8C)
Emergency stop
control circuit
See 2.6 for detail
200VAC
3
(L1, L2, L3, PE)
External emergency
stop contact signal
The connection of the Series 21 is shown only in the above figure.
25
2. CONNECTION
B62443EN2/03
2.5.3
Series 16/18MODEL A loader control board, Series 16/18MODEL B

loader control board based on the main A specification
Servo amplifier
JV1 to JV4
(PCREV20MDT)
CN1, CN1L, CN1M (C Series)

JV1B, JV2B ( series typeB I/F)
(PCREV20MDT)
1 IRn
11 ISn
1 IRn
2 GDRn
12 GDSn
2 GDRn
3 *PWMAn 13 *PWMDn
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5 *PWMBn 15 *PWMEn
16 0V
18 0V
19
7 *PWMCn 17 *PWMFn
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8 0V
10 *MCONn 20 *DRDYn
*PWMAn
0V
0V
*PWMCn
0V
*MCONn
ISn
GDSn
*PWMDn
0V
*PWMEn
0V
*PWMFn
0V
*DRDYn
18 0V
19
1
2
10
10
11
11
12
12
13
13
14
14
15
15
16
16
17
17
18
18
19
19
20
20
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*PWMBn
8 0V
10 *MCONn 20 *DRDYn
nc
GDRn
16 0V
6 0V
7 *PWMCn 17 *PWMFn
IRn
14 0V
4 0V
5 *PWMBn 15 *PWMEn
6 0V
12 GDSn
3 *PWMAn 13 *PWMDn
14 0v
4 0v
11 ISn
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Servo Amplifier
Interface
Shield
Grounding plate
26
IRn
GDRn
*PWMAn
0V
*PWMBn
0V
*PWMCn
0V
*MCONn
ISn
GDSn
*PWMDn
0V
*PWMEn
0V
*PWMFn
0V
*DRDYn
2. CONNECTION
B62443EN2/03
Series 16/18MODEL B loader control board based on the main B

specification, Series 16MODEL C loader control board, or Series 21
loader control board
Servo amplifier
JS1AJS4A
JS1B, JS2B ( series typeB I/F)
(PCREV20MDT)
(PCREV20MDT)
11 ISn
1 IRn
2 GDRn
12 GDSn
2 GDRn
3 *PWMAn 13 *ENBLn
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5 *PWMCn 15 PD2
16 *PD2
7 *PWMEn 17 PRQ2
10 *MCONn 20 0V
1
2
GDRn
*PWMAn
9 *DRDYn 19 0V
10 *MCONn 20 0V
0V
*PWMEn
0V
*DRDYn
*MCONn
ISn
GDSn
*ENBLn
0V
PDn
*PDn
PRQn
*PRQn
0V
0V
10
10
11
11
12
12
13
13
14
14
15
15
16
16
17
17
18
18
19
19
20
20
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*PWMCn
18 *PRQ2
8 0V
nc
IRn
0V
ce
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18 *PRQ2
9 *DRDYn 19 0V
16 *PD2
6 0V
7 *PWMEn 17 PRQ2
8 0V
14 0V
4 0V
5 *PWMCn 15 PD2
6 0V
12 GDSn
3 *PWMAn 13 *ENBLn
14 0V
4 0V
11 ISn
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1 IRn
Shield
Grounding plate
27
IRn
GDRn
*PWMAn
0V
*PWMCn
0V
*PWMEn
0V
*DRDYn
*MCONn
ISn
GDSn
*ENBLn
0V
PDn
*PDn
PRQn
*PRQn
0V
0V
2. CONNECTION
B62443EN2/03
2.5.4
Pulse Coder Interface

CRF1 (MR50 male)
1 SD1
SDn
*SDn
REQn
*REQn
2 *SD1
34
19 SD3
3 REQ1
35
20 *SD3
4 *REQ1
36
21 REQ3
22 *REQ3
38
0V
+5V
Power supply for serial pulse coder

Power supply for serial pulse coder
+6V
Battery power supply for absolute serial

pulse coder
ce
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5 SD2
37
6 *SD2
23 SD4
39
7 REQ2
24 *SD4
40
8 *REQ2
25 REQ4
41 +5V
0V
10
0V
11
0V
12
0V
13
0V
14
0V
15
0V
48 +6V
16
0V
49 +6V
17
50 +6V
18
42 +5V
nc
26 *REQ4
27
43 +5V
28
.c
44 +5V
29
45 +5V
30
46 +5V
31 +5V
47 +6V
Serial pulse coder signal

(n : 1 to 4 control axes number)
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33
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Location of connector pin in the side of loader control board
32 +5V
28
2. CONNECTION
B62443EN2/03
2.5.5
Brake Drive Output
Interface
CNBK (AMP D3400, 12pins, male)

1D
2D
om
Location of connector pin in the side of loader control board

1D
2C
3C
1B
2B
3B
1A
2A
3A BKOUT1+
2.5.6
Battery Interface for
Absolute Pulse Coder
ce
nt
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1C
Brake control output +side
r.c
BKOUT1+

JA4 (PCREV20MDT)
.c
nc
Location of connector pin in the side

of loader control board
1
11
12
3 0V
13
14
15
16
7 +6V
17
18
19
10
20
29
+6V
0V
Battery power supply +side

Battery power supply side
2. CONNECTION
B62443EN2/03
2.6
EMERGENCY STOP
SYSTEM
CONNECTION
2.6.1
The emergency stop control circuit has the functions listed below, and
exercises control such that the servo drive power is turned off by hardware
when an emergency stop is required.
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Outline
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nc
ce
nt
e
r.c
1 Control of the servo amplifier MCC (electromagnetic contactor for

turning on/off the motor power line)
2 Control of the brake mounted on each loader axis
These control functions are required to ensure safety. The machine
usually supports similar functions. For the loader also, the machine tool
builder may devise a proprietary circuit to provide the control functions
explained above. An emergency stop control unit that can be used with
the C series servo amplifier is available as an option from FANUC. A
machine tool builder may, however, wish to incorporate the ememergency
stop control circuit into the power magnetic circuit. In such a case,
conform to the specifications given in this section.
The interconnection diagram for an emergency stop system employing a
C series servo amplifier is shown in Subsec. 2.6.2. The signal, *LOT,
from the limit switch for detecting loader overtravel passes through the
emergency stop button on the loader operators panel, then drives relay
RY1 in the emergency stop control unit. When external emergency stop
conditions need to be set, a pin, provided before relay RY1, can be used
to insert a contact in series. Jumper the pin when the pin is not required.
Normally, relay RY1 is on. When an emergency stop condition arises,
relay RY1 is turned off, such that contact ry1 turns off the 100 VAC
supply. This loss of the 100 VAC supply turns off the servo amplifier
contactor (MCC), causing the servo drive power to be turned off by the
hardware. At the same time, the 100 VDC supply is also turned off,
turning off the power to, and thus actuating, the brake.
When an series servo amplifier is being used, the same basic concept
applies. Note, however, that an MCC for controlling the motor power line
and a driving power supply must be installed external to the servo
amplifier, and that an emergency stop contact must be connected to the
power supply module.
Signals to the loader control PMC are transferred through the receiver
circuit, as shown in the diagram. *LOT is the loader overtravel detection
signal, and *EMG1 is the emergency stop signal from the loader
operators panel. Note that the circuit is configured such that when *LOT
is turned on, *ESPTP is also turned on. Using a PMC ladder program,
copy *EMG1 to emergency stop input G008.4 of the loader CNC.
30
2. CONNECTION
B62443EN2/03
Overtravel release
button
*LOT
om
If loader overtravel is detected, an emergency stop is performed as

described above. The servo power is turned off, and the brake is actuated,
thus preventing return from the overtravel. To overcome this, the
overtravel release signal OTR can be used. When OTR is turned on, +24
V is forcibly applied to the *LOT line to release the emergency stop state.
Jog the loader until *LOT is turned off. Note that the emergency stop
button on the loader operators panel is enabled even while this operation
is being performed. OTR ignores *LOT. So, for safety, program the
following logic with the PMC:
.c
nc
ce
nt
e
OTR
r.c
OTR
31
2. CONNECTION
B62443EN2/03
2.6.2
(Apply +24 V to *LOT when the loader does not have an overtravel
detection function.)
CRM1
+24E
Overtravel limit
switch
*LOT
CNTP
*ESPTP1

Emergency stop
button

24V
Receiver
*ROT Input
signal
OTR Output signal
r.c
Inside of Loader
om
Emergency Stop
System Connection
(When a C Series
Servo Amplifier is
Used)
Receiver
*EMG1
Input signal
ce
nt
e
*ESPTP2
CNPW
BKIN+
External emergency stop

(Jumpered when not used)
BREAK Output signal

Driver turned on
when this signal is 1
*EMG1
RY1
24V relay
Driver
nc
*EMG2
CNBK
BKOUT1+
Full wave
rectification
ry1
Surge
absorber
Emergency stop
control unit
(example)
.c
24V relay RY2

Transformer
0.2KVA
200V 100V ry1
ry2
AC100V
Servo amp.
Loader
MCC
L1
L2
L3
Servo motor
with brake
PWM
200VAC
32
2. CONNECTION
B62443EN2/03
2.6.3
Emergency Stop
Control Circuit
Interface
om
CNPW
(AMP D3400, 12 pins,
male)
Connector pin layout on loader control board
1D *EMGHBK1 2D *EMGHBK2 1D HBKR
3C
1B
2B
3B
1A
2A
3A BKIN+
r.c
2C *EMG2
BKIN+ Brake control signal

*EMGHBK1
Not used
*EMGHBK2
HBKR
.c
nc
ce
nt
e
1C *EMG1
*EMG1 Emergency stop control relay drive signal (+ side)

*EMG2 Emergency stop control relay drive signal ( side)
33
2. CONNECTION
B62443EN2/03
2.7
WORKPIECE
FEEDER
CONNECTION
2.7.1
For workpiece feeder control, 8 input signals and 8 output signals are
provided.
DI = 8 points (+24 V contact signal input, general purpose)
DO = 8 points (sink output, general purpose)
These signals are used to move the workpiece feeder back and forth.
om
Outline
2.7.2
Connector
r.c
CNWF (MR20pin, female)

CRM1 (MR50pin, female)
The same signals are output on both connectors. The user can use
whichever of the two connectors is most convenient.
ce
nt
e
CNWF (MR20, female)

Connector pin layout on loader control board
1 FDI01
14 FDO01
8 FDI07
2 FDI02
15 FDO02
9 FDI08
FDI03
FDI04
FDI05
16 FDO03
: Input for workpiece feeder control

: Used for FDI0108 common voltage switching
: Output for workpiece feeder control
: Common voltage source
: Common voltage source
nc
10 COMWF
FDI01FDI08
COMWF
FDO01FDO08
+24V
0V
17 FDO04
11
18 FDO06
.c
12 FDO06
19 FDO07
FDI06
13 0V
7 +24V
20 FDO08
For information about CRM1, see Section 2.3.
2.7.3
Signals
Generalpurpose
workpiece feeder input
signals
FDI01 to FDI08
[Classification]
[Function]
34
Contact signal input, switchable between common

24 V and 0 V
For workpiece feeder interfacing, 8 input signals are
purpose applications depending on the function
demanded of the mechanical unit of the loader. These
signals are also applied to a separate connector,
CNWF, connected in parallel.
2. CONNECTION
B62443EN2/03
Generalpurpose
workpiece feeder output
signals
FDO01 to FDO08
[Classification]
[Function]

When COMWF is connected to 0V, FDI01 to FDI08
When COMWF is connected to +24E, FDI01 to
FDI08 function as 0 V common voltage input
accordingly. That is, when FDI01 to FDI08 are
FDI01 to FDI08 are functioning as 0 V common
being closed. This signal is also applied to a separate
connector, CNWF, connected in parallel.
For workpiece feeder interfacing, 8 output signals are
purposes, depending on the function demanded of
the mechanical unit of the loader. These signals are
also applied to a separate connector, CNWF,
connected in parallel.
om
[Classification]
[Function]
ce
nt
e
r.c
selection for the
workpiece feeder
COMWF
LCB
Noninsulating
contact signal input
FDI0108
3.3K
Receiver
COMWF
nc
+24V
24V
.c
: 24 V common voltage
connection
LCB
Noninsulating sink output

24 V, 200 mA maximum
: 0 V common voltage
connection
0V
FDO0108
DO
0V
35
2. CONNECTION
B62443EN2/03
2.8
DI/DO INTERFACE
2.8.1
A PMC for loader control is built into the loader control board. The PMC
has functions equivalent to PMCRA1 of the Series 18/21. The
development environment used with the PMCRA1 is used. The I/O
signals handled by the PMC are classified into three groups.
Outline
ce
nt
e
r.c
om
1 Loader control board builtin I/O signals

2 Signals for interfacing with the machine PMC
3 I/O signals connected, through an I/O link, to the loader control board
The signals of 1 are stored in the X/Y area, which is directly accessed by
the PMC.
The signals of 2 are periodically transferred by system software from
within the G/F area of the machine PMC to the G/F area of the loader
PMC, or vice versa.
The signals of 3 are used as additional I/O signals, transferred using the
FANUC I/O link when the signals of 1 alone are insufficient to configure
a system.
The figure below illustrates the relationships between these I/O signals
and PMCs. As shown below, the loader control PMC and machine control
PMC operate independently of each other. In addition, the PMCs share
signals for synchronous operation.
G0212 to 0219
G0252 to 0255
G1212 to 1219
G1252 to 1255
nc
.c
Loader
control
PMC
F0212 to 0219
F0252 to 0255
F1212 to 1219
F1252 to 1255
G0212 to 0219
G0252 to 0255
G1212 to 1219
G1252 to 1255
Loader
control
board
Builtin
I/O
F0212 to 0219
F0252 to 0255
F1212 to 1219
F1252 to 1255
3
I/O Link
increase
I/O
(option)
Other G area
Machine
control
CNC
Loader
control
CNC
Other F area
Machine
control
PMC
Other G area
Other F area
Loader side control
Machine side control
36
I/O card
or
I/O Link
of I/O
2. CONNECTION
B62443EN2/03
2.8.2
The table below lists the I/O signals stored in the loader control board.
Loader Control Board

Builtin I/O Signal
Input signals
(loader loader control
PMC)
Symbol
Signal name
om
Address
X1000.0
LDI01
LDI01=*DEC1
X1000.1
LDI02
LDI02=*DEC2
X1000.2
LDI03
X1000.3
LDI04
X1000.4
LDI05
X1000.5
LDI06
X1000.6
*LOT
X1000.7
*EMG1
Emergency stop signal on the loader operators panel (affected by *LOT)
X1002.0
FDI01
X1002.1
FDI02
X1002.2
FDI03
X1002.3
FDI04
X1002.4
FDI05
X1002.5
FDI06
X1002.6
FDI07
X1002.7
FDI08
X1004.0
TDI01
X1004.1
TDI02
X1004.2
TDI03
X1004.3
TDI04
X1004.4
TDI05
X1004.5
TDI06
X1004.6
TDI07
X1004.7
TDI08
X1010.2
r.c
ce
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Workpiece feeder control signals
nc
FDI08 is used as skip signal while skip function is used
.c
Loader operators panel input signals

(These eight signals are used as generalpurpose DI signals or matrix switch input
signals.)
(When these signals are used as matrix switch input signals, the PMC reads the
switch states by using area X1010 to X1013, instead of directly referencing TDO01 to
TDO08.)
SW02
SW03
:
LDI04=*DEC4
SW01
X1010.1
LDI03=*DEC3
X1010.0
Signals used for

controlling the main
loader unit
When a reference position return

operation is performed, LDI01 to
LDI04 function as *DEC1 to
*DEC4, respectively.
X1013.5
SW30
X1013.6
SW31
X1013.7
SW32
Loader operators panel input signals

(When these signals are used as matrix switch input signals, the state signals of
the loader operators panel switches are expanded in this area.)
37
2. CONNECTION
B62443EN2/03
Output signals (loader

control PMC loader)
Symbol
LDO02
Y1000.2
LDO03
Y1000.3
LDO04
Y1000.4
LDO05
Y1000.5
LDO06
Y1000.6
LDO07
Y1000.7
LDO08
Y1001.0
FDO01
Y1001.1
FDO02
Y1001.2
FDO03
Y1001.3
FDO04
Y1001.4
FDO05
Y1001.5
FDO06
Y1001.6
FDO07
Y1001.7
FDO08
Y1002.0
TCOM1
Y1002.1
TCOM2
Y1002.2
TCOM3
Y1002.3
TCOM4
Y1003.0
TDO01
Y1003.1
TDO02
Y1003.2
TDO03
Y1003.3
TDO04
Y1003.4
TDO05
Y1003.5
TDO06
Workpiece feeder control signals
Loader operators panel common voltage control output signals

(These four signals are used as generalpurpose DO signals or matrix drive common
voltage signals.)
Loader operators panel output signals
(These six signals are used as generalpurpose DO signals or matrix LED output
signals. When these signals are used as matrix LED output signals, the PMC writes
LED on/off data to area Y1010 to Y1013, instead of directly controlling TDO01 to
TDO06.)
.c
Y1003.6
Signals used for controlling the main loader unit
om
Y1000.1
r.c
LDO01
ce
nt
e
Y1000.0
Signal name
nc
Address
OTR
Loader overtravel release signal (1: Disables *LOT.)
Y1004.0
BRAKE
Brake control signal (0: Actuates the brake. 1: Releases the brake.)
Y1003.7
38
2. CONNECTION
B62443EN2/03
Y1010.1
LED02
Y1010.2
LED03
Y1010.3
LED04
Y1010.4
LED05
Y1010.5
LED06
Y1011.0
LED07
Y1011.1
LED08
Y1011.2
LED09
Y1011.3
LED10
Y1011.4
LED11
Y1011.5
LED12
Y1012.0
LED13
Y1012.1
LED14
Y1012.2
LED15
Y1012.3
LED16
Y1012.4
LED17
Y1012.5
LED18
Y1013.0
LED19
Y1013.1
LED20
Y1013.2
LED21
Y1013.3
LED22
Y1013.4
LED23
Y1013.5
LED24
Loader operators
o erator s panel
anel matrix LED drive signals
(1: Turns on an LED.)
r.c
LED01
nc
Y1010.0
Signal name
om
Symbol
ce
nt
e
Address
2.8.3
.c
Signals for Interfacing

with the Loader
Control CNC
The interface signals used between the CNC, built into the loader control
board, and the loader control PMC conform to the specifications for the
ordinary Series 16/18/21 PMC interface signals. This means that, for the
loader PMC, ladder programs can be developed using the same interface
as that for the machine PMC. Note, however, that not all signals can
actually be used for loader control. For details, see Subsec. 2.8.4.
For details of each function, refer to the following manuals:
D FANUC Series 16/18 Connection Manual (B61803E)
D FANUC Series 16/18/160/180MODEL B Connection Manual
(Function) (B62443E1)
D FANUC Series 16/18/160/180MODEL C Connection Manual
(Function) (B62753EN1)
D FANUC Series 21/210 Connection Manual (Function) (B62703EN)
39
2. CONNECTION
B62443EN2/03
2.8.4
DI/DO Signals
(Function by Function)
Status signal
MA (F001#7)
Servo ready signal
SA (F000#6)
Emergency stop signal
*ESP (G008#4, X1000#7)
External reset signal
ERS (G008#7)
Reset & Rewind signal
RRW (G008#6)
Resetting signal
RST (F001#1)
Rewinding signal
RWD (F000#0)
Alarm signal
AL (F001#0)
Battery alarm signal
BAL (F001#2)
om
Emergency stop Reset
NC ready signal
r.c
Ready
A i moving
Axis
i signal
i
l
MV1 MV4 (F102#0 #3)
Axis moving direction signal
MVD1 MVD4 (F106#0 #3)
Inposition
In osition signal
INP1 INP4 (F104#0 #3)

RPDO (F002#1)
ce
nt
e
Ra
Rapid
id traverse signal
Mode selection
Inch input signal

g
INCH (F002#0)
(
)
Cutting feed signal

Mode selection signal
CUT (F002#6)
MD1, MD2, MD4 (G043#0 #2)
Operation mode comfirmation signal
MMDI (F003#3)
MMEM (F003#5)
MEDT (F003#6)
MH (F003#1)
Feed axis direction
.c
Manual feedrate override

id
nc
MINC (F003#0)
MREF (F004#5)
MTCHIN (F003#7)
+J1 +J4 (G100#0 #3)
J1 J4 (G102#0 #3)
Jog feedrate override signal
*JVO *JV15 (G010 G011)
Manual rapid traverse signal
RT (G019#7)
w
w
w
Interlock
MJ (F003#2)
Rapid traverse override signal
ROV1, ROV2 (G014#0, #1)
1% rapid traverse override
HROV (G096#7)
Select signal
1% rapid traverse override signal
*HROV0 *HROV6 (G096#0 #6)
Manual absolute signal
*ABSM (G006#2)
Manual absolute confirmation signal
MABSM (F004#2)
Start lock signal
STLK (G007#1)
Interlock signal for all axes
*IT (G008#0)
Interlock signal for each axis
*IT1 *IT4 (G130#0 #3)
40
2. CONNECTION
B62443EN2/03
Manual handle feed

incremental feed
Manual handle feed axis select signal
HS1A, HS1B, HS1C, HS1D (G018#0

#3)
HS2A HS2B
HS2A,
HS2B, HS2C
HS2C, HS2D (G018#4
#7)
MP1 MP2 (G019#4,
MP1,
(G019#4 #5)
Manual reference position return select signal
ZRN (G043#7)
Deceleration signal for reference position return

signal
*DEC1 *DEC4 (X1000#0 #3)
Reference position
osition return com
completion
letion signal
ZP21 ZP24 (F096#0 #3)
2nd reference position return completion signal

g
ZP31 ZP34 (F098#0 #3)
3rd reference position return completion signal
ZP41 ZP44 (F100#0 #3)
4th reference position return completion signal
ZRF1 ZRF4 ((F120#0 #3))
Program protect key
Memory protect signal
Automatic operation
Cycle start signal
r.c
Reference position completion signal
ZP1 ZP4 (F094#0 #3)
om
Reference position return
Incremental feed signal

(Manual handle feed movement amount select
signal)
KEY1 KEY4 (G046#3 #6)

ST (G007#2)
Feed hold signal
*SP (G008#5)
STL (F000#5)
ce
nt
e
Cycle start LED signal
SPL (F000#4)
Automatic operating signal
OP (F000#7)
Workpiece number search signal
PN1 PN8 (G009#0 #3)
Machine lock signal for all axes
MLK (G044#1)
Machine lock signal for each axis
MLK1 MLK4 (G108#0 #3)
Machine lock confirmation signal for all axes
MMLK (F004#1)
Single block signal
SBK (G046#1)
Single block confirmation signal
MSBK (F004#3)
Feedrate override signal
*FV0 *FV7 (G012)
2nd feedrate override signal
*AFV0 *AFV7 (G013)
Override cancel signal
OVC (G006#4)
Optional block skip signal
BDT1 (G044#0)
.c
nc
Feed hold LED signal
BDT2 BDT9 (G045#0 #7)
Optional block skip confirmation signal
MBDT1 (F004#0)
Auxiliary function
Auxiliary function code signal
M00 M31 (F010 F013)
Auxiliary function strobe signal
MF (F007#0)
Finish signal
FIN (G004#3)
Auxiliary function finish signal
MFIN (G005#0)
Distribution end signal
DEN (F001#3)
Auxiliary function lock signal
AFL (G005#6)
Auxiliary function lock comfirmation signal
MAFL (F004#4)
2nd M function code signal
M200 M215 (F014 F015)
2nd M function strobe signal
MF2 (F008#4)
2nd M function finish signal
MFIN2 (G004#4)
3rd M function code signal
M300 M315 (F016 F017)
3rd M function strobe signal
MF3 (F008#5)
3rd M function finish signal
MFIN3 (G004#5)
SMZ (G053#6)
MBDT2 MBDT9 (F005#0 #7)
Error detect signal
Multiple M commands
41
2. CONNECTION
S function
B62443EN2/03
S function code signal
S0 S31 (F022 F025)
S function strobe signal
SF (F007#2)
S function finish signal
SFIN (G005#2)
Skip function
Skip signal
SKIP (X1002#7)
Overtravel
Over travel signal
*+L1 *+L4 (G114#0 #3)

*L1 *L4 (G116#0 #3)
External data input
EXLM (G007#6)
*LOT (X1000#6)
Servo off signal
SVF1 SVF4 (G126#0 #3)
Followup signal
*FLWU (G007#5)
1) External alarm message function

2) External operation message function
r.c
3) External program number search function

Data signal
ED00 ED15 (G000 G001)
Address signal
EA0 EA6 (G002#0 #6)
Read signal
ESTB (G002#7)
EREND (F060#0)
ce
nt
e
Read finish signal

Custom macro
om
Mechanical handle feed
Stored stroke limit select signal
Search finish signal
ESEND (F060#1)
Input signal for custom macro
UI0 UI15 (G054 G055)
Output signal for custom macro
UO0 UO15 (F054 F055)

UO100 UO131 (F056 F059)
Interrupt signal for custom macro
UINT (G053#3)
Position switch signal
PSW01 PSW10 (F070#0 F071#1)
A i control
Axis
t l command
d signal
i
l
EC0A EC6A (G143#0 #6)
A i control
Axis
t l command
d read
d signal
i
l
EBUFA (G142#7)
A i control
t l command
d read
d fifinish
i h signal
i
l
Axis
EBSYA (F130#7)
R
Reset
t signal
i
l
ECLRA (G142#6)
A i control
Axis
t l ttemporary stop
t signal
i
l
ESTPA (G142#5)
Servo
off
S
ff signal
i
l
ESOFA (G142#4)
Bl k stop
Block
t signal
i
l
ESBKA (G142#3)
Axis control function by

PMC
.c
nc
1) G
GroupA
A
Bl k stop
Block
t di
disable
bl signal
i
l
EMSBKA (G143#7)
A ili
Auxiliary
ffunction
ti code
d signal
i
l
EM11A EM28A (F132)
A ili
ffunction
ti strobe
t b signal
i
l
Auxiliary
EMFA (F131#0)
A ili
Auxiliary
ffunction
ti completion
l ti signal
i
l
EFINA (G142#0)
Axis
signal
A i controll ffeedrate
d
i
l
EIF0A EIF15A (G144 G145)
A i control
Axis
t ld
data
t signal
i
l
EID0A EID31A (G146 G149)
I
Inposition
i i signal
i
l
EINPA (F130#0)
F ll i zero checking
Following
h ki signal
i
l
ECKZA (F130#1)
Al
i
l
Alarm
signal
EIALA (F130#2)
A i moving
Axis
i signal
i
l
EGENA (F130#4)
A ili
Auxiliary
ffunction
i executing
i signal
i
l
EDENA (F130#3)
Negativedirection
N
i
di
i overtravell signal
i
l
EOTNA (F130#6)
P ii
Positivedirection
di
i overtravell signal
i
l
EOTPA (F130#5 )
42
2. CONNECTION
B62443EN2/03
Axis control command signal
EC0B EC6B (G155#0 #6)
Axis control command read signal

g
EBUFB ((G154#7))
Axis control command read finish signal

g
EBSYB (F133#7)
(
)
Reset signal
ECLRB (G154#6)
Axis control temporary

tem orary stop
sto signal
ESTPB (G154#5)
Servo off signal
ESOFB (G154#4)
stop signal
Block sto
ESBKB (G154#3)
EMSBKB (G155#7)
EM11B EM28B (F135)
A
ili
ffunction
ti strobe
t b signal
i
l
Auxiliary
EMFB (F134#0)
A
ili
ffunction
ti completion
l ti signal
i
l
Auxiliary
EFINB (G154#0)
Axis control feedrate signal
EIF0B EIF15B (G156 G157)
Axis control data signal
EID0B EID31B (G158 G161)
Inposition signal
EINPB (F133#0)
Following zero checking signal
ECKZB (F133#1)
Alarm signal
g
EIALB (F133#2)
(
)
Axis moving
g signal
g
EGENB ((F133#4))
Negativedirection
Negative
direction overtravel signal
EOTNB (F133#6)
Positivedirection overtravel signal

EOTPB (F133#5 )
EC0C EC6C (G167#0 #6)

g
EBUFC (G166#7)
(
)

g
EBSYC (F136#7)
(
)
Reset signal
ECLRC (G166#6)

tem orary stop
sto signal
ESTPC (G166#5)
Servo off signal
ESOFC (G166#4)
ESBKC (G166#3)
Block stop disable signal
EMSBKC (G167#7)
EM11C EM28C (F138)
nc
stop signal
Block sto
EMFC (F137#0)
EFINC (G166#0)
EIF0C EIF15C (G168 G169)
EID0C EID31C (G170 G173)
.c
Auxiliary
A
ili
ffunction
ti strobe
t b signal
i
l
A
ili
ffunction
ti completion
l ti signal
i
l
Auxiliary
w
w
w
EDENB (F133#3)
ce
nt
e
Auxiliary function executing signal
3) GroupC
om

r.c
2) GroupB
Inposition signal
EINPC (F136#0)
ECKZC (F136#1)
Alarm signal
g
EIALC (F136#2)
(
)
Axis moving
g signal
g
EGENC ((F136#4))
EDENC (F136#3)
Negative
Negativedirection
EOTNC (F136#6)
EOTPC (F136#5 )
43
2. CONNECTION
EC0D EC6D (G179#0 #6)

g
EBUFD (G178#7)
(
)

g
EBSYD (F139#7)
(
)
Reset signal
ECLRD (G178#6)

tem orary stop
sto signal
ESTPD(G178#5)
Servo off signal
ESOFD (G178#4)
stop signal
Block sto
ESBKD (G178#3)
EMSBKD (G179#7)
EM11D EM28D (F141)
A
ili
ffunction
ti strobe
t b signal
i
l
Auxiliary
EMFD (F140#0)
A
ili
ffunction
ti completion
l ti signal
i
l
Auxiliary
EFIND (G178#0)
EIF0D EIF15D (G180 G181)
EID0D EID31D (G182 G185)
Inposition signal
EINPD (F139#0)
ECKZD (F139#1)
Alarm signal
g
EIALD (F139#2)
(
)
Axis moving
g signal
g
EGEND ((F139#4))
Negativedirection
Negative
EOTND (F139#6)

Control axis select signal
EOTPD (F139#5 )
EAX1 EAX4 (G136#0 #3)
Control axis selection status signal
*EAXSL (F129#7)
*FV0E *FV7E (G151)
Override cancellation signal
OVCE (G150#5)
ROVIE, ROV2E (G150#0, #1)
Dry run signal
DRNE (G150#7)
.c
nc
Manual rapid traverse select signal

External key input cont l
trol
RTE (G150#6)
EKSET (G066#7)
ENBKY (G066#1)
EKC0EKC7 (G098)
INHKY (F053#0)
PRGDPL (F053#1)
EKENB (F053#7)
Communication signal
b t
between
LCD and
d NC
(G0212 G0219)
(G0252 G0255)
(G1212 G1219)
(G1252 G1255)
(F0212 F0219)
(F0252 F0255)
w
Multipath waiting by M
code
EDEND (F139#3)
ce
nt
e
5) Common
om

r.c
4) GroupD
B62443EN2/03
(F1212 F1219)
(F1252 F1255)
3path waiting ignorance signal
NMWT (G063#7)
Waiting signal
WATO (F063#6)
44
2. CONNECTION
B62443EN2/03
2.8.5
DI/DO Signals (In Order
of Addresses)
Address table for Series 16/18/21 LCB
MTPMC
Address
#7
#6
#5
#4
#3
#2
#1
#0
X1000
*EMG1
*LOT
LDI06
LDI05
*DEC4
*DEC3
*DEC2
*DEC1
FDI08
FDI07
FDI06
FDI05
TDI08
TDI07
TDI06
TDI05
om
Bit No
SW08
SW07
SW06
SW05
X1001
X1002
X1004
X1005
FDI02
FDI01
TDI04
TDI03
TDI02
TDI01
SW04
SW03
SW02
SW01
ce
nt
e
X1010
FDI03
r.c
X1003
FDI04
PMCMT
X1011
SW16
SW15
SW14
SW13
SW12
SW11
SW10
SW09
X1012
SW24
SW23
SW22
SW21
SW20
SW19
SW18
SW17
X1013
SW32
SW31
SW30
SW29
SW28
SW27
SW26
SW25
Address
#7
#6
#5
#4
#3
#2
#1
#0
Y1000
LDO08
LDO07
LDO06
LDO05
LDO04
LDO03
LDO02
LDO01
FDO07
FDO06
FDO05
FDO04
FDO03
FDO02
FDO01
nc
Bit No.
Y1001
FDO08
Y1002
OTR
TDO06
TDO05
TDO04
TDO03
TDO02
.c
Y1003
TCOM4 TCOM3 TCOM2 TCOM1
Y1004
TDO01
BRAKE
Y1005
Y1010
LED06
LED05
LED04
LED03
LED02
LED01
Y1011
LED12
LED11
LED10
LED09
LED08
LED07
Y1012
LED18
LED17
LED16
LED15
LED14
LED13
Y1013
LED24
LED23
LED22
LED21
LED20
LED19
CAUTION
When bit 1 of parameter No. 7902 (for matrix expansion for
the loader operators panel) is set to 1, X1010 to X1013 and
Y1010 to Y1013 are used. At this time, X1004, Y1002,
Y1003 (excluding OTR) cannot be used. When bit 1 of
parameter No. 7902 is set to 0, X1010 to X1013 and Y1010
to Y1013 cannot be used.
45
2. CONNECTION
B62443EN2/03
PMCCNC
Bit No.
#7
#6
#5
#4
#3
#2
#1
#0
G0000
ED7
ED6
ED5
ED4
ED3
ED2
ED1
ED0
G0001
ED15
ED14
ED13
ED12
ED11
ED10
ED9
ED8
G0002
ESTB
EA6
EA5
EA4
EA3
EA2
EA1
EA0
MFIN3
MFIN2
G0003
G0004
G0005
AFL
OVC
ERS
EXLM
*FLWP
RRW
*SP
*ABSM
ST
STLK
*ESP
*IT
PN8
PN4
PN2
PN1
ce
nt
e
G0009
MFIN
r.c
G0008
FIN
SFIN
G0006
G0007
om
Address
G0010
*JV7
*JV6
*JV5
*JV4
*JV3
*JV2
*JV1
*JV0
G0011
*JV15
*JV14
*JV13
*JV12
*JV11
*JV10
*JV9
*JV8
G0012
*FV7
*FV6
*FV5
*FV4
*FV3
*FV2
*FV1
*FV0
G0013
*AFV7
*AFV6
*AFV5
*AFV4
*AFV3
*AFV2
*AFV1
*AFV0
ROV2
ROV1
HS1B
HS1A
G0014
nc
G0015
G0016
.c
G0017
G0018
HS2D
G0019
RT
G0020
G0021
G0022
G0023
G0024
G0025
G0026
46
HS2C
HS2B
HS2A
MP2
MP1
HS1D
HS1C
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
G0027
G0028
G0029
om
G0030
G0031
G0032
r.c
G0033
G0034
G0035
ce
nt
e
G0036
G0037
G0038
G0039
G0040
G0041
nc
G0042
G0043
ZRN
MD4
.c
G0044
G0045
BDT9
BDT8
BDT7
BDT6
BDT5
G0046
DRN
KEY4
KEY3
KEY2
KEY1
BDT4
MD2
MD1
MLK
BDT1
BDT3
BDT2
SBK
G0047
G0048
G0049
G0050
G0051
G0052
G0053
SMZ
UINT
G0054
UI7
UI6
UI5
UI4
UI3
UI2
UI1
UI0
G0055
UI15
UI14
UI13
UI12
UI11
UI10
UI9
UI8
47
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
G0056
G0057
G0058
G0060
G0061
G0062
G0063
NMWT
G0064
ce
nt
e
G0065
r.c
om
G0059
G0066
EKSET
G0067
G0068
G0069
G0070
nc
G0071
G0072
.c
G0073
G0074
G0075
G0076
G0077
G0078
G0079
G0080
G0081
G0082
Reserved for custommade macro
G0083
Reserved for custommade macro
G0084
48
ENBKY
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
G0085
G0086
G0087
om
G0088
G0089
G0090
r.c
G0091
G0092
G0093
ce
nt
e
G0094
G0095
G0096
HROV *HROV6 *HROV5 *HROV4 *HROV3 *HROV2 *HROV1 *HROV0
G0097
G0097
EKC7
EKC6
EKC5
EKC4
EKC3
EKC2
EKC1
EKC0
+J4
+J3
+J2
+J1
J4
J3
J2
J1
MLK4
MLK3
MLK2
MLK1
G0099
nc
G0100
G0101
.c
G0102
G0103
G0104
G0105
G0106
G0107
G0108
G0109
G0110
G0111
G0112
G0113
49
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
G0114
#5
#4
#3
#2
#1
#0
*+L4
*+L3
*+L2
*+L1
*L4
*L3
*L2
*L1
G0115
G0116
om
G0117
G0118
G0119
G0120
r.c
G0121
G0122
ce
nt
e
G0123
G0124
G0125
G0126
SVF4
SVF3
SVF2
SVF1
*IT4
*IT3
*IT2
*IT1
EAX4
EAX3
EAX2
EAX1
G0127
G0128
nc
G0129
G0130
G0131
.c
G0132
G0133
G0134
G0135
G0136
G0137
G0138
G0139
G0140
G0141
50
2. CONNECTION
B62443EN2/03

Bit No.
Address
G0142
G0143
#7
#6
#5
#4
#3
#2
#1
EBUFA ECLRA ESTPA ESOFA ESBKA

EMSBKA EC6A
EC5A
EC4A
EC3A
EC2A
EC1A
EC0A
EIF5A
EIF4A
EIF3A
EIF7A
EIF2A
EIF1A
EIF0A
G0145
EIF15A EIF14A EIF13A EIF12A EIF11A EIF10A
EIF9A
EIF8A
G0146
EID7A
EID2A
EID1A
EID0A
G0147
EID15A EID14A EID13A EID12A EID11A EID10A
EID9A
EID8A
G0148
EID23A EID22A EID21A EID20A EID19A EID18A EID17A EID16A
G0149
G0150
DRNE
RTE
OVCE
G0151
*FV7E
*FV6E
*FV5E
EID5A
EID4A
EID3A
ROV2E ROV1E
*FV4E
*FV3E
ce
nt
e
EID6A
om
G0144
r.c
EIF6A
#0
EFINA
*FV2E
*FV1E
*FV0E
G0152
G0153
G0154
G0155
EBUFB ECLRB ESTPB ESOFB ESBKB
EMSBKB EC6B
EC4B
EC3B
EC2B
EC1B
EC0B
EIF5B
EIF4B
EIF3B
EIF2B
EIF1B
EIF0B
G0157
EIF15B EIF14B EIF13B EIF12B EIF11B EIF10B
EIF9B
EIF8B
nc
EIF7B
G0158
EID7B
EID2B
EID1B
EID0B
G0159
EID15B EID14B EID13B EID12B EID11B EID10B
EID9B
EID8B
G0160
EID23B EID22B EID21B EID20B EID19B EID18B EID17B EID16B
.c
w
EC5B
G0156
G0161
EID6B
EID5B
EID4B
EID3B
G0162
G0163
G0164
G0165
EIF6B
EFINB
51
2. CONNECTION
B62443EN2/03

Bit No.
Address
G0166
G0167
#7
#6
#5
#4
#3
#2
#1
EBUFC ECLRC ESTPC ESOFC ESBKC

EMSBKC EC6C
EC5C
EC4C
EC3C
EC2C
EC1C
EC0C
EIF5C
EIF4C
EIF3C
G0168
EIF7C
EIF2C
EIF1C
EIF0C
G0169
EIF15C EIF14C EIF13C EIF12C EIF11C EIF10C
EIF9C
EIF8C
G0170
EID7C
EID2C
EID1C
EID0C
G0171
EID15C EID14C EID13C EID12C EID11C EID10C
EID9C
EID8C
G0172
EID23C EID22C EID21C EID20C EID19C EID18C EID17C EID16C
G0173
EID5C
EID4C
EID3C
r.c
EID6C
om
EIF6C
#0
EFINC
G0174
ce
nt
e
G0175
G0176
G0177
G0178
G0179
EBUFD ECLRD ESTPD ESOFD ESBKD
EMSBKD EC6D
EC4D
EC3D
EC2D
EC1D
EC0D
EIF5D
EIF4D
EIF3D
EIF2D
EIF1D
EIF0D
G0181
EIF15D EIF14D EIF13D EIF12D EIF11D EIF10D
EIF9D
EIF8D
nc
EIF7D
G0182
EID7D
EID2D
EID1D
EID0D
G0183
EID15D EID14D EID13D EID12D EID11D EID10D
EID9D
EID8D
G0184
EID23D EID22D EID21D EID20D EID19D EID18D EID17D EID16D
.c
w
w
EC5D
G0180
G0185
EIF6D
EFIND
EID6D
EID5D
EID4D
EID3D
G0186
G0187
G0188
G0189
G0190
G0191
52
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
G0212
G0213
G0214
om
G0215
G0216
G0217
G0218
r.c
G0219
G0252
ce
nt
e
G0253
G0254
G0255
G1212
G1213
G1214
nc
G1215
G1216
G1217
.c
G1218
G1219
G1252
G1253
G1254
G1255
CAUTION
Signals G212 to G219, G252 to G255, G1212 to G1219,
and G1252 to G1255 are used for communicating with the
NC. The states of the signals in these areas can be checked
using F212 to F219, F252 to F255, F1212 to F1219, and
F1252 to F1255 on the NC. Note, however, that G1212 to
G1219 and G1252 to G1255 are valid only when bit 0 of
parameter No. 8102 is set to 1.
53
2. CONNECTION
B62443EN2/03
CNCPMC
Bit No.
Address
#7
#6
#5
#4
F0000
OP
SA
STL
SPL
F0001
MA
F0002
MDRN
BAL
CUT
MTCHIN MEDT
MMEM
MREF
MMDI
MAFL
#1
#0
RWD
DEN
F0004
F0005
#2
RST
AL
RPDO
INCH
MH
MINC
MJ
om
F0003
#3
MSBK
MABSM MMLK
MBDT
MBDT9 MBDT8 MBDT7 MBDT6 MBDT5 MBDT4 MBDT3 MBDT2
r.c
F0006
F0007
SF
F0008
MF3
MF2
ce
nt
e
F0009
MF
M07
M06
M05
M04
M03
M02
M01
M00
F0011
M15
M14
M13
M12
M11
M10
M09
M08
F0012
M23
M22
M21
M20
M19
M18
M17
M16
F0013
M31
M30
M29
M28
M27
M26
M25
M24
F0014
M207
M206
M205
M204
M203
M202
M201
M200
F0015
M215
M214
M213
M212
M211
M210
M209
M208
F0016
M307
M306
M305
M304
M303
M302
M301
M300
F0017
M315
M314
M313
M312
M311
M310
M309
M308
F0022
S07
S06
S05
S04
S03
S02
S01
S00
F0023
S15
S14
S13
S12
S11
S10
S09
S08
F0024
S23
S22
S21
S20
S19
S18
S17
S16
F0025
S31
S30
S29
S28
S27
S26
S25
S24
.c
nc
F0010
F0018
F0019
F0020
F0021
F0026
F0027
54
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
F0028
F0029
F0030
om
F0031
F0032
F0033
F0034
r.c
F0035
F0036
ce
nt
e
F0037
F0038
F0039
F0040
F0041
F0042
nc
F0043
F0044
F0045
.c
F0046
F0047
F0048
F0049
F0050
F0051
F0052
F0053
EKENB
F0054
UO7
UO6
UO5
UO4
UO3
UO2
UO1
UO0
F0055
UO15
UO14
UO13
UO12
UO11
UO10
UO09
UO08
55
PRGDPL INHKY
2. CONNECTION
B62443EN2/03

Bit No.
#7
#6
#5
#4
#3
#2
#1
#0
F0056
UO107
UO106
UO105
UO104
UO103
UO102
UO101
UO100
F0057
UO115
UO114
UO113
UO112
UO111
UO110
UO109
UO108
F0058
UO123
UO122
UO121
UO120
UO119
UO118
UO117
UO116
F0059
UO131
UO130
UO129
UO128
UO127
UO126
UO125
UO124
om
Address
ESEND EREND
F0061
F0062
F0063
WATO
F0064
ce
nt
e
F0065
r.c
F0060
F0066
F0067
F0068
F0069
PSW08 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01
F0071
PSW10 PSW09
nc
F0070
F0072
.c
F0073
F0074
F0075
F0076
F0077
F0078
F0079
F0080
F0081
F0082
F0083
F0084
56
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
F0085
F0086
F0087
om
F0088
F0089
F0090
r.c
F0091
F0092
F0093
ZP4
ZP3
ZP2
ZP1
ZP24
ZP23
ZP22
ZP21
ZP34
ZP33
ZP32
ZP31
ZP44
ZP43
ZP42
ZP41
MV4
MV3
MV2
MV1
INP4
INP3
INP2
INP1
MVD4
MVD3
MVD2
MVD1
ce
nt
e
F0094
F0095
F0096
F0097
F0098
F0099
nc
F0100
F0101
.c
F0102
F0103
F0104
F0105
F0106
F0107
F0108
F0109
F0110
F0111
F0112
F0113
57
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
F0114
F0115
F0116
om
F0117
F0118
F0119
F0120
ZRF4
ZRF2
ZRF1
ECKZA
EINPA
r.c
F0121
ZRF3
F0122
ce
nt
e
F0123
F0124
F0125
F0126
F0127
*EAXSL
EOV0
nc
F0128
F0129
EOTP
F0130
EBSYA EOTNA
EGENA EDENA
EIALA
F0131
.c
F0132
F0133
EMFA
EM28A EM24A EM22A EM21A EM18A EM14A EM12A
EM11A
EBSYB EOTNB
EINPB
EOTB
EGENB EDENB
EIALB
ECKZB
F0134
EMFB
F0135
EM28B EM24B EM22B EM21B EM18B EM14B EM12B
EM11B
F0136
EBSYC EOTNC
EINPC
EOTC
EGENC EDENC
EIALC
ECKZC
F0137
EMFC
F0138
EM28C EM24C EM22C EM21C EM18C EM14C EM12C EM11C
F0139
EBSYD EOTND
EOTD
EGEND EDEND
EIALD
ECKZD
EINPD
F0140
EMFD
F0141
EM28D EM24D EM22D EM21D EM18D EM14D EM12D EM11D
58
2. CONNECTION
B62443EN2/03

Bit No.
Address
#7
#6
#5
#4
#3
#2
#1
#0
F0212
F0213
F0214
F0215
om
F0216
F0217
F0218
r.c
F0219
F0252
F0253
ce
nt
e
F0254
F0255
F1212
F1213
F1214
F1215
nc
F1216
F1217
F1218
.c
F1219
G1252
G1253
G1254
G1255
CAUTION
Signals F212 to F219, F252 to F255, F1212 to F1219, and F1252 to F1255 are used for
communicating with the NC. In these areas, the states of G212 to G219, G252 to G255, F1212
to F1219, and F1252 to F1255 on the NC can be checked. Note, however, that F1212 to F1219
and F1252 to F1255 are valid only when bit 0 of parameter No. 8102 is set to 1.
59
3. CONNECTING THE LOADER CONTROL BOARD

OF THE Series 16i/18i/21i
CONNECTING THE LOADER CONTROL BOARD OF

THE Series 16i/18i/21i
.c
nc
ce
nt
e
r.c
om
B62443EN2/03
60
3. CONNECTING THE LOADER CONTROL

BOARD OF THE Series 16i/18i/21i
B62443EN2/03
3.1
The loader control board has been specifically designed for axis control
of a loader. The loader control board has the following features and
enables axis control independently of the machine.
D For the Series 16/18
D FSSB servo amplifier interface for four axes
D PMC (equivalent to PMCRA1)
D I/O link interface
This board occupies one optional slot of the Series 16i/18i/21i. The loader
control board of the Series 16/18MODEL A/B/C uses specialized
DI/DO signals, but the loader control board of the Series 16i/18i/21i does
not. Each DI/DO signal must be connected via an I/O link to an external
input/output unit.
.c
nc
ce
nt
e
r.c
om
OUTLINE
61

B62443EN2/03
3.2
CONNECTION
BETWEEN UNITS
Distributed I/O, loader I/O board, etc.

JD1B
JD1A
Servo card (up to four axes)
om
I/OLINK(JD1A)
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To I/O link slave or others

Servo amplifier
FSSB(COP10A)
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COP10B
COP10A
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To the next amplifier
62

B62443EN2/03
3.3
LOADER CONTROL
BOARD
Like the other control unit printed circuit boards of the Series 16i/18i/21i,
the loader control board is mounted in an optional slot of the control unit.
The type of printed circuit board that can be mounted in an optional slot
depends on the position of the slot. Some optional slots cannot
accommodate the loader control board. Refer to the connection manual
(hardware) of the Series 16i/18i/21i for details.

r.c
Axis control
card
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Connector position on the loader control board
COP10A
JD1A
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Fig.3.3 Connector Position on the Loader Control Board
63

CONNECTING AN I/O
LINK
A DI/DO signal necessary for sequence control of the loader must be

obtained through an I/O link from a connected external input/output unit.
The external input/output units that can be connected to the I/O link
interface on this board include an input/output unit and distributed I/O.
Connect the optimum input/output unit for using the DI/DO signal. A
loader I/O board having an interface based on the DI/DO signals on the
conventional loader control board can be connected via an I/O link. For
this type of loader I/O board, see Section 3.7.
I/O link connector: JD1A
+5V
10
19
5
SOUT
SIN
*SOUT
*SIN
15
0V
13
0V
11
0V
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17
64
20
+5V
18
+5V
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3.4
B62443EN2/03
16
0V
14
0V
12
0V

B62443EN2/03
3.5
SERVO INTERFACE
(FSSB)
The Series 16i/18i/21i uses an FSSB interface to connect a servo

amplifier. An FSSB interface is also provided on the loader control board.
When connecting a servo amplifier, use the onboard interface.
The loader control board can control up to four servo axes.
CNC
Optical fiber cable
COP10A
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Servo amplifier module
Servo card
COP10B
COP10A
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COP10B
COP10A
|
|
Up to four axes
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Recommended cable (optical fiber cable)

For
use
in
the
power
magnetics
cabinet/fixed:
A66L60010023#L
For use outside the power magnetics cabinet/movable:
A66L60010026#L
For the cable length and other notes, refer to the connection manual
(hardware) of the Series 16i/18i/21i.
65

B62443EN2/03
3.6
DI/DO INTERFACE
3.6.1
Interface Signals for
the Loader Control
CNC
The interface signals between the loader control PMC and the CNC
provided in the loader control board are based on the PMC interface
signals of the Series 16i/18i/21i. Therefore, ladder programming for the
loader PMC can use the same interface as that for the machine PMC. The
signals that can be used for loader control are actually limited. See the
subsequent sections on DI/DO signals for details.
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For details of each function, refer to the following manual:

D FANUC Series 16i/18i/21i/160i/180i/210iMODEL A
CONNECTION MANUAL (Function) (B63003EN1)
66

B62443EN2/03
3.6.2
DI/DO Signals
(Function by Function)
Ready signal
Servo ready signal
MA <F001#7>
SA <F000#6>
Emergency stop
Reset
Emergency stop signal

External reset signal
Reset & rewind signal
Resetting signal
Rewinding signal
*ESP <G008#4, X000#7>

ERS <G008#7>
RRW <G008#6>
RST <F001#1>
RWD <F000#0>
Status signal
Alarm signal
Battery alarm signal
Axial moving signal
Axial moving direction signal
Inposition signal
Rapid traverse signal
Inch input signal
Cutting feed signal
AL <F001#0>
BAL <F001#2>
MV1 MV4 <F102#0 #3>
MVD1 MVD4 <F106#0 #3>
INP1 INP4 <F104#0 #3>
RPDO <F002#1>
INCH <F002#0>
CUT <F002#6>
Mode selection
Mode selection signal

Operation mode confirmation signal
Jog feed
Feed axis direction selection signal
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Ready
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MD1, MD2, MD4 <G043#0 #2>

MMDI <F003#3>
MMEM <F003#5>
MEDT <F003#6>
MH <F003#1>
MINC <F003#0>
MJ <F003#2>
MREF <F004#5>
MTCHIN <F003#7>
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Manual feedrate override signal

Manual rapid traverse selection signal
1% rapid traverse override select signal
1% rapid traverse override signal
Manual absolute signal
Absolute switch confirmation signal
Interlock
Start lock signal

Interlock signal for all axes
Interlock signal for each axis
STLK <G007#1>
*IT <G008#0>
*IT1 *IT4 <G130#0 #3>
Manual handle feed axis select signal
HS1A, HS1B, HS1C, HS1D <G018#0 #3>

HS2A, HS2B, HS2C, HS2D <G018#4 #7>
MP1, MP2 <G019#4, #5>
Manual handle feed, incremental

feed
Reference position return
Memory protect key
+J1 +J4 <G100#0 #3>

J1 J4 <G102#0 #3>
*JV0 *JV15 <G010 G011>
RT <G019#7>
ROV1, ROV2 <G014#0, #1>
HROV <G096#7>
*HROV0 *HROV6 <G096#0 #6>
*ABSM <G006#2>
MABSM <F004#2>
Incremental feed signal

(Manual handle feed movement amount select
signal)
Manual reference position return select signal
Deceleration signal for reference position return
signal
Reference position return completion signal
2nd reference position return completion signal
3rd reference position return completion signal
4th reference position return completion signal
Reference position establishment signal
ZRN <G043#7>
*DEC1 *DEC4 <X000#0 #3>
ZP1 ZP4 <F094#0 #3>
ZP21 ZP24 <F096#0 #3>
ZP31 ZP34 <F098#0 #3>
ZP41 ZP44 <F100#0 #3>
ZRF1 ZRF4 <F120#0 #3>
Memory protect signal
KEY1 KEY4 <G046#3 #6>
67

Optional block skip confirmation signal

Error detect signal
ST <G007#2>
*SP <G008#5>
STL <F000#5>
SPL <F000#4>
OP <F000#7>
PN1 PN8 <G009#0 #3>
MLK <G044#1>
MLK1 MLK4 <G108#0 #3>
MMLK <F004#1>
SBK <G046#1>
MSBK <F004#3>
*FV0 *FV7 <G012>
*AFV0 *AFV7 <G013>
OVC <G006#4>
DRN <G046#7>
MDRN <F002#7>
BDT1 <G044#0>
BDT2 BDT9 <G045#0 #7>
MBDT1 <F004#0>
MBDT2 MBDT9 <F005#0 #7>
SMZ <G053#6>
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Cycle start signal

Feed hold signal
Cycle start LED signal
Feed hold LED signal
Automatic operating signal
Workpiece number search signal
Machine lock signal for all axes
Machine lock signal for each axis
Machine lock confirmation signal for all axes
Single block signal
Single block confirmation signal
2nd feedrate override signal
Override cancel signal
Dry run signal
Dry run confirmation signal
Optional block skip signal
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Automatic operation
B62443EN2/03

Finish signal
Auxiliary function finish signal
Distribution end signal
Auxiliary function lock signal
Auxiliary function lock confirmation signal
Multiple M commands
2nd M function code signal

2nd M function strobe signal
2nd M function finish signal
3rd M function code signal
3rd M function strobe signal
3rd M function finish signal
M200 M215 <F014 F015>

MF2 <F008#4>
MFIN2 <G004#4>
M300 M315 <F016 F017>
MF3 <F008#5>
MFIN3 <G004#5>
S function
S function code signal

S function strobe signalS
S function finish signal
S0 S31 <F022 F025>

SF <F007#2>
SFIN <G005#2>
Skip signal
SKIP <X002#7>
Overtravel signal
Stored stroke check switch signal

*+L1 *+L4 <G114#0 #3>

* L1 * L4 <G116#0 #3>
EXLM <G007#6>
*LOT <X000#6>
Mechanical handle feed
Servo off signal

Followup signal
SVF1 SVF4 <G126#0 #3>

*FLWU <G007#5>
External data input
1) External alarm message function

2) External operation message function
3) External program number search function
Data signal
Address signal
Read signal
Read finish signal
Search finish signal
ED00 ED15 <G000 G001>

EA0 EA6 <G002#0 #6>
ESTB <G002#7>
EREND <F060#0>
ESEND <F060#1>
nc
Skip function
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Overtravel
Custom macro
M00 M31 <F010 F013>

MF <F007#0>
FIN <G004#3>
MFIN <G005#0>
DEN <F001#3>
AFL <G005#6>
MAFL <F004#4>
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Auxiliary function
Input signal for custom macro

Output signal for custom macro
Interrupt signal for custom macro
UI0 UI15 <G054 G055>

UO0 UO15 <F054 F055>
UO100 UO131 <F056 F059>
UINT <G053#3>
Position switch signal
PSW01 PSW10 <F070#0 F071#1>
68

B62443EN2/03
Axis control function by PMC

Reset signal
Axis control temporary stop signal
Servo off signal
Block stop signal
Auxiliary function completion signal
Inposition signal
Alarm signal
Axis moving signal
Negativedirection overtravel signal
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2) Group B
EC0A EC6A <G143#0 #6>

EBUFA <G142#7>
EBSYA <F130#7>
ECLRA <G142#6>
ESTPA <G142#5>
ESOFA <G142#4>
ESBKA <G142#3>
EMSBKA <G143#7>
EM11A EM28A <F132>
EMFA <F131#0>
EFINA <G142#0>
EIF0A EIF15A <G144 G145>
EID0A EID31A <G146 G149>
EINPA <F130#0>
ECKZA <F130#1>
EIALA <F130#2>
EGENA <F130#4>
EDENA <F130#3>
EOTNA <F130#6>
EOTPA <F130#5>
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Reset signal
Servo off signal
Block stop signal
Inposition signal
Alarm signal
Axis moving signal
EC0B EC6B <G155#0 #6>

EBUFB <G154#7>
EBSYB <F133#7>
ECLRB <G154#6>
ESTPB <G154#5>
ESOFB <G154#4>
ESBKB <G154#3>
EMSBKB <G155#7>
EM11B EM28B <F135>
EMFB <F134#0>
EFINB <G154#0>
EIF0B EIF15B <G156 G157>
EID0B EID31B <G158 G161>
EINPB <F133#0>
ECKZB <F133#1>
EIALB <F133#2>
EGENB <F133#4>
EDENB <F133#3>
EOTNB <F133#6>
EOTPB <F133#5>
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1) Group A

Reset signal
Servo off signal
Block stop signal
Inposition signal
Alarm signal
Axis moving signal
3) Group C
69
EC0C EC6C <G167#0 #6>

EBUFC <G166#7>
EBSYC <F136#7>
ECLRC <G166#6>
ESTPC <G166#5>
ESOFC <G166#4>
ESBKC <G166#3>
EMSBKC <G167#7>
EM11C EM28C <F138>
EMFC <F137#0>
EFINC <G166#0>
EIF0C EIF15C <G168 G169>
EID0C EID31C <G170 G173>
EINPC <F136#0>
ECKZC <F136#1>
EIALC <F136#2>
EGENC <F136#4>
EDENC <F136#3>
EOTNC <F136#6>
EOTPC <F136#5>

B62443EN2/03
Control axis select signal

Control axis selection status signal
Override cancellation signal
Dry run signal
Manual rapid traverse select signal
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3path waiting ignorance signal

Waiting signal
(G0212 G0219)
(G0252 G0255)
(G1212 G1219)
(G1252 G1255)
(F0212 F0219)
(F0252 F0255)
(F1212 F1219)
(F1252 F1255)
NMWT <G063#7>
WATO <F063#6>
Multipath waiting by M code
EAX1 EAX4 <G136#0 #3>

*EAXSL <F129#7>
*FV0E *FV7E <G151>
OVCE <G150#5>
ROV1E, ROV2E <G150#0, #1>
DRNE <G150#7>
RTE <G150#6>
EKSET <G066#7>
ENBKY <G066#1>
EKC0 EKC7 <G098>
INHKY <F053#0>
PRGDPL <F053#1>
EKENB <F053#7>
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External key input control
Communication signal between

LCB and NC
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5) Common
EC0D EC6D <G179#0 #6>

EBUFD <G178#7>
EBSYD <F139#7>
ECLRD <G178#6>
ESTPD <G178#5>
ESOFD <G178#4>
ESBKD <G178#3>
EMSBKD <G179#7>
EM11D EM28D <F141>
EMFD <F140#0>
EFIND <G178#0>
EIF0D EIF15D <G180 G181>
EID0D EID31D <G182 G185>
EINPD <F139#0>
ECKZD <F139#1>
EIALD <F139#2>
EGEND <F139#4>
EDEND <F139#3>
EOTND <F139#6>
EOTPD <F139#5>
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Reset signal
Servo off signal
Block stop signal
Inposition signal
Alarm signal
Axis moving signal
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4) Group A
70

B62443EN2/03
3.6.3
DI/DO Signals
(In Order of Addresses)
Address table for series 16/18/21 LCB
MTPMC
Bit No.
7
X000
*EMG1
X001
X002
SKIP
PMCCNC
Bit No.
*DEC4
*DEC3
*DEC2
*DEC1
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Address
G0000
ED7
ED6
ED5
ED4
ED3
ED2
ED1
ED0
G0001
ED15
ED14
ED13
ED12
ED11
ED10
ED9
ED8
G0002
ESTB
EA6
EA5
EA4
EA3
EA2
EA1
EA0
MFIN3
MFIN2
FIN
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Address
G0003
G0004
G0005
AFL
G0006
OVC
G0007
ERS
nc
G0008
EXLM
*FLWP
RRW
*SP
*ABSM
ST
STLK
*IT
PN8
PN4
PN2
PN1
*JV7
*JV6
*JV5
*JV4
*JV3
*JV2
*JV1
*JV0
G0011
*JV15
*JV14
*JV13
*JV12
*JV11
*JV10
*JV9
*JV8
G0012
*FV7
*FV6
*FV5
*FV4
*FV3
*FV2
*FV1
*FV0
G0013
*AFV7
*AFV6
*AFV5
*AFV4
*AFV3
*AFV2
*AFV1
*AFV0
ROV2
ROV1
HS1B
HS1A
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MFIN
*ESP
G0009
G0010
SFIN
G0014
G0015
G0016
G0017
G0018
HS2D
G0019
RT
71
HS2C
HS2B
HS2A
MP2
MP1
HS1D
HS1C

B62443EN2/03

Bit No.
Address
G0020
G0021
G0022
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G0023
G0024
G0025
G0026
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G0027
G0028
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G0029
G0030
G0031
G0032
G0033
G0034
nc
G0035
G0036
G0037
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G0038
G0039
G0040
G0041
G0042
G0043
ZRN
MD4
G0044
G0045
BDT9
BDT8
BDT7
BDT6
BDT5
G0046
DRN
KEY4
KEY3
KEY2
KEY1
G0047
G0048
G0049
72
BDT4
MD2
MD1
MLK
BDT1
BDT3
BDT2
SBK

B62443EN2/03

Bit No.
Address
G0050
G0051
G0052
SMZ
UINT
G0054
UI7
UI6
UI5
UI4
G0055
UI15
UI14
UI13
UI12
G0056
UI3
UI2
UI1
UI0
UI11
UI10
UI9
UI8
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G0057
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G0053
G0058
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G0059
G0060
G0061
G0062
G0063
NMWT
G0064
nc
G0065
G0066
EKSET
G0067
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G0068
G0069
G0070
G0071
G0072
G0073
G0074
G0075
G0076
G0077
G0078
G0079
73
ENBKY

B62443EN2/03

Bit No.
Address
G0080
G0081
Reserved for order made macro
G0083
Reserved for order made macro
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G0082
G0084
G0085
G0086
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G0087
G0088
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G0089
G0090
G0091
G0092
G0093
G0094
nc
G0095
G0096
HROV *HROV6 *HROV5 *HROV4 *HROV3 *HROV2 *HROV1 *HROV0
G0097
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G0098
EKC7
EKC6
EKC5
EKC4
EKC3
EKC2
EKC1
EKC0
+J4
+J3
+J2
+J1
J4
J3
J2
J1
MLK4
MLK3
MLK2
MLK1
G0099
G0100
G0101
G0102
G0103
G0104
G0105
G0106
G0107
G0108
G0109
74

B62443EN2/03

Bit No.
Address
G0110
G0111
G0112
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G0113
G0114
G0115
G0116
*+L3
*+L2
*+L1
*L4
*L3
*L2
*L1
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G0117
*+L4
G0118
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G0119
G0120
G0121
G0122
G0123
G0124
nc
G0125
G0126
SVF4
SVF3
SVF2
SVF1
*IT4
*IT3
*IT2
*IT1
EAX4
EAX3
EAX2
EAX1
G0127
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G0128
G0129
G0130
G0131
G0132
G0133
G0134
G0135
G0136
G0137
G0138
G0139
75

B62443EN2/03

Bit No.
Address
G0140
G0141
G0143
EBUFA ECLRA ESTPA ESOFA ESBKA

EMSBKA EC6A
EIF6A
EC5A
EC4A
EIF5A
EIF4A
EC3A
EFINA
EC2A
EC1A
EC0A
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G0142
G0144
EIF7A
EIF2A
EIF1A
EIF0A
G0145
EIF15A EIF14A EIF13A EIF12A EIF11A EIF10A
EIF9A
EIF8A
G0146
EID7A
EID2A
EID1A
EID0A
G0147
EID15A EID14A EID13A EID12A EID11A EID10A
EID9A
EID8A
G0148
G0149
EID5A
EID4A
EID3A
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EID6A
EIF3A
G0150
DRNE
RTE
OVCE
G0151
*FV7E
*FV6E
*FV5E
*FV4E
*FV3E
ROV2E ROV1E
*FV2E
*FV1E
*FV0E
G0152
G0153
G0154
EMSBKB EC6B
nc
G0155
EBUFB ECLRB ESTPB ESOFB ESBKB

EC5B
EC4B
EC3B
EC2B
EC1B
EC0B
EIF5B
EIF4B
EIF3B
G0156
EIF7B
EIF2B
EIF1B
EIF0B
G0157
EIF15B EIF14B EIF13B EIF12B EIF11B EIF10B
EIF9B
EIF8B
G0158
EID7B
EID2B
EID1B
EID0B
G0159
EID15B EID14B EID13B EID12B EID11B EID10B
EID9B
EID8B
G0160
G0161
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EIF6B
EFINB
EID6B
EID5B
EID4B
EID3B
G0162
G0163
G0164
G0165
G0166
G0167
EBUFC ECLRC ESTPC ESOFC ESBKC

EMSBKC EC6C
EC5C
EC4C
EC3C
EC2C
EC1C
EC0C
EIF5C
EIF4C
EIF3C
G0168
EIF7C
EIF2C
EIF1C
EIF0C
G0169
EIF15C EIF14C EIF13C EIF12C EIF11C EIF10C
EIF9C
EIF8C
76
EIF6C
EFINC

B62443EN2/03

Bit No.
7
G0170
EID7C
EID6C
EID5C
EID4C
EID3C
EID2C
EID1C
EID0C
G0171
EID15C EID14C EID13C EID12C EID11C EID10C
EID9C
EID8C
G0172
G0173
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Address
G0174
G0175
G0177
G0178
EBUFD ECLRD ESTPD ESOFD ESBKD

EMSBKD EC6D
EC5D
EC4D
EC3D
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G0179
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G0176
EIF0D
G0181
EIF15D EIF14D EIF13D EIF12D EIF11D EIF10D
EIF9D
EIF8D
G0182
EID7D
EID2D
EID1D
EID0D
G0183
EID15D EID14D EID13D EID12D EID11D EID10D
EID9D
EID8D
G0184
G0185
nc
EIF1D
G0187
.c
G0188
G0190
G0191
G0189
77
EID4D
EIF3D
EC0D
EIF2D
EID5D
EIF4D
EC1D
EIF7D
EID6D
EIF5D
EC2D
G0180
G0186
EIF6D
EFIND
EID3D

B62443EN2/03

Bit No.
Address
G0212
G0213
G0214
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G0215
G0216
G0217
G0218
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G0219
G0252
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G0253
G0254
G0255
G1212
G1213
G1214
nc
G1215
G1216
G1217
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G1218
G1219
G1252
G1253
G1254
G1255
CAUTION
Signals G212 to G219, G252 to G255, G1212 to G1219,
and G1252 to G1255 are used for communicating with the
CNC. The states of the signals in these areas can be
checked using F212 to F219, F252 to F255, F1212 to
F1219, and F1252 to F1255 on the CNC. Note that G1212
to G1219 and G1252 to G1255 are valid only when the S19
bit (bit 0 of parameter 8102) is set to 1.
78

B62443EN2/03
CNCPMC
Bit No.
Address
F0000
OP
SA
STL
SPL
F0001
MA
F0002
MDRN
BAL
CUT
MTCHIN MEDT
MMEM
MREF
MMDI
MAFL
0
RWD
DEN
F0004
F0005
RST
AL
RPDO
INCH
MH
MINC
MJ
om
F0003
MSBK
MABSM MMLK
MBDT
MBDT9 MBDT8 MBDT7 MBDT6 MBDT5 MBDT4 MBDT3 MBDT2
r.c
F0006
F0007
SF
F0008
MF3
MF2
ce
nt
e
F0009
MF
M07
M06
M05
M04
M03
M02
M01
M00
F0011
M15
M14
M13
M12
M11
M10
M09
M08
F0012
M23
M22
M21
M20
M19
M18
M17
M16
F0013
M31
M30
M29
M28
M27
M26
M25
M24
F0014
M207
M206
M205
M204
M203
M202
M201
M200
F0015
M215
M214
M213
M212
M211
M210
M209
M208
F0016
M307
M306
M305
M304
M303
M302
M301
M300
F0017
M315
M314
M313
M312
M311
M310
M309
M308
F0022
S07
S06
S05
S04
S03
S02
S01
S00
F0023
S15
S14
S13
S12
S11
S10
S09
S08
F0024
S23
S22
S21
S20
S19
S18
S17
S16
F0025
S31
S30
S29
S28
S27
S26
S25
S24
.c
nc
F0010
F0018
F0019
F0020
F0021
F0026
F0027
79

B62443EN2/03

Bit No.
Address
F0028
F0029
F0030
om
F0031
F0032
F0033
F0034
r.c
F0035
F0036
ce
nt
e
F0037
F0038
F0039
F0040
F0041
F0042
nc
F0043
F0044
F0045
.c
F0046
F0047
F0048
F0049
F0050
F0051
F0052
F0053
EKENB
F0054
UO7
UO6
UO5
UO4
UO3
UO2
UO1
UO0
F0055
UO15
UO14
UO13
UO12
UO11
UO10
UO09
UO08
80
PRGDPL INHKY

B62443EN2/03

Bit No.
7
F0056
UO107
UO106
UO105
UO104
UO103
UO102
UO101
UO100
F0057
UO115
UO114
UO113
UO112
UO111
UO110
UO109
UO108
F0058
UO123
UO122
UO121
UO120
UO119
UO118
UO117
UO116
F0059
UO131
UO130
UO129
UO128
UO127
UO126
UO125
UO124
om
Address
ESEND EREND
F0061
F0062
F0063
WATO
F0064
ce
nt
e
F0065
r.c
F0060
F0066
F0067
F0068
F0069
PSW08 PSW07 PSW06 PSW05 PSW04 PSW03 PSW02 PSW01
F0071
PSW10 PSW09
nc
F0070
F0072
.c
F0073
F0074
F0075
F0076
F0077
F0078
F0079
F0080
F0081
F0082
F0083
F0084
81

B62443EN2/03

Bit No.
Address
F0085
F0086
F0087
om
F0088
F0089
F0090
r.c
F0091
F0092
F0093
ZP4
ZP3
ZP2
ZP1
ZP24
ZP23
ZP22
ZP21
ZP34
ZP33
ZP32
ZP31
ZP44
ZP43
ZP42
ZP41
MV4
MV3
MV2
MV1
INP4
INP3
INP2
INP1
MVD4
MVD3
MVD2
MVD1
ce
nt
e
F0094
F0095
F0096
F0097
F0098
F0099
nc
F0100
F0101
.c
F0102
F0103
F0104
F0105
F0106
F0107
F0108
F0109
F0110
F0111
F0112
F0113
82

B62443EN2/03

Bit No.
Address
F0114
F0115
F0116
om
F0117
F0118
F0119
F0120
ZRF4
ZRF2
ZRF1
ECKZA
EINPA
r.c
F0121
ZRF3
F0122
ce
nt
e
F0123
F0124
F0125
F0126
F0127
F0128
*EAXSL
nc
F0129
F0130
EBSYA EOTNA
EOV0
EOTP
EGENA EDENA
EIALA
F0131
F0132
EM28A EM24A EM22A EM21A EM18A EM14A EM12A
EM11A
F0133
EBSYB EOTNB
EINPB
.c
w
w
w
EMFA
EOTB
EGENB EDENB
EIALB
ECKZB
F0134
EMFB
F0135
EM28B EM24B EM22B EM21B EM18B EM14B EM12B
EM11B
F0136
EBSYC EOTNC
EINPC
EOTC
EGENC EDENC
EIALC
ECKZC
F0137
EMFC
F0138
EM28C EM24C EM22C EM21C EM18C EM14C EM12C EM11C
F0139
EBSYD EOTND
EOTD
EGEND EDEND
EIALD
ECKZD
EINPD
F0140
EMFD
F0141
EM28D EM24D EM22D EM21D EM18D EM14D EM12D EM11D
83

B62443EN2/03

Bit No.
7
F0212
F0213
F0214
om
F0215
F0216
F0217
F0218
r.c
F0219
F0252
ce
nt
e
F0253
F0254
F0255
F1212
F1213
F1214
nc
F1215
F1216
F1217
.c
F1218
F1219
G1252
G1253
G1254
G1255
CAUTION
Signals F212 to F219, F252 to F255, F1212 to F1219, and
F1252 to F1255 are used for communicating with the CNC.
In these areas, the states of G212 to G219, G252 to G255,
G1212 to G1219, and G1252 to G1255 on the CNC can be
checked. Note that F1212 to F1219 and F1252 to F1255 are
valid only when the S19 bit (bit 0 of parameter 8102) is set
to 1.
84

B62443EN2/03
3.7
LOADER I/O BOARD
3.7.1
This board has an I/O function based on the loaderspecialized I/O signals
provided on the loader control board of the Series 16/18MODEL A/B/C.
The board is connected, via an I/O link, to the CNC.
Outline
om
The interface is basically compatible with the I/O signals provided on the
loader control board of the Series 16/18, but the general DO signals are
source output. The board does not support matrix expansion of the
operators panel interface.
3.7.2
A voltage of 24 VDC is supplied externally. Use a power supply rated at

2 A or higher.
r.c
Power Connection
3.7.2.1
ce
nt
e
Connector
A3
A1
0V
+24V
B2
B1
0V
+24V
nc
B3
A2
3.7.2.2
Connection
.c
Loader I/O board

CP11

24VDC regulated
power supply
24 VDC"10%
+24V
0V
Cable
CP11
AMP Japan
1178288 (Housing)
11752185 (Contact)
External power supply
+24V (1)
0V (2)
Choose a power supply

that is compatible with
the external power pin.
Recommended cable:
A02B0124K830 (5 m)
With an M3 crimp terminal at the end on the external
power supply side)
85

3.7.3
Connecting an I/O Link
B62443EN2/03
This board is connected as a slave unit of an I/O link via the I/O link
interface of the loader control board.
Series 16/18/21
Loader I/O board

JD1A
JD1B
om
JD1A
3.7.3.1
This board occupies five bytes for each of input and output. Use the
following module names:
Input:/5
Output:/5
For such addressing, it is recommended that the address of this board
begin with X0 and Y0. This section assumes that the loader I/O board is
addressed X0 and Y0.
ce
nt
e
Addressing an I/O Link
r.c
To another slave unit of an I/O link
3.7.3.2
Connector pin layout on the loader I/O board side

JD1A, JD1B (PCREV20MDT)
nc
Connector
+5V
10
19
17
5
3
SOUT
SIN
.c
86
*SOUT
*SIN
15
0V
13
0V
11
0V
20
+5V
18
+5V
16
0V
14
0V
12
0V

B62443EN2/03
3.7.4
Connecting the Loader
Operators Panel
The loader operators panel is used to jog the loader and to perform
teaching. For the loader operators panel, the I/O signals described below
are stored on the loader I/O board.
3.7.4.1
DI = 8 points (24V input)
Outline
DO = 6 points (24V sink output)
om
DO = 4 points (24V source output)
DI = 1 point (24V input for emergency stop)
r.c
These I/O signals are used for switch input of the loader operators panel
and for driving the LED display.
Connector
CNTP (MR20pin, male)
ce
nt
e
3.7.4.2
14
15
16
17
19
TDO02
TDO03
TDO04
TDO05
TDO06
20
TDI08
TCOM1
TCOM2
10
TCOM3
11
TCOM4
12 *ESPTP1
13 *ESPTP2
TDI01
TDI02
TDI03
TDI04
TDI05
TDI06
TDI07
.c
nc
18
TDO01
3.7.4.3
D TDI01 to TDI08
Connection
0V
R
TDI01 to TDI08
RV
24 VDC
0V
87

B62443EN2/03
D TDO01 to TDO06
TDO01 to TDO06
+
24 VDC
0V
0V
om
D TCOM01 to TCOM04
+24V
DV
r.c
TCOM01 to TCOM04
24 VDC
ce
nt
e
0V
* Connect the common voltage line of the source driver to +24 V on the
same board.
3.7.4.4
Signals
Operators panel input
signals TDI01 to TDI08
Classification
Function
nc
Operators panel output

signals TDO01 to TDO06
Classification
Function
Classification
Function
Classification
Function
: 24V input for emergency stop

: The contact signal from the emergency stop button
on the operators panel is connected in series with
*LOT within the loader I/O board. This signal drives
the externally mounted emergency stop control relay.
See also Section 3.7.7, Connecting an Emergency
Stop System. Connect contact B of the emergency
stop button on the loader operators panel to
*ESPTP1 and *ESPTP2.
If the cable is disconnected from this connector, the
loader immediately performs an emergency stop.
When this connector is not used, install a dummy
connector, instead of the cable, to enable signal
processing.
.c
Common voltage drive

output signals TCOM1 to
TCOM4
Emergency stop input
signals *ESPTP1,
*ESPTP2
: 24V input, tied to common 24 V

: TDI01 to TDI08 can be used as eight
generalpurpose DI signals.
: 24V sink output, 24V/220mA load
: TDO01 to TDO06 can be used as six
generalpurpose DO signals.
: 24V source output, 24V/200mA load
: A source driver is used to output 24 V to a signal pin
when the corresponding signal is set to 1 by the PMC.
*ESPTP1 (12)
*ESPTP2 (13)
Dummy connector
88

B62443EN2/03
3.7.5
The loader I/O board has I/O signals for controlling the loader main body.
Connecting the I/O

Signals for Loader
Control
3.7.5.1
DI = 6 points
(generalpurpose 24V input)
DO = 8 points
(generalpurpose 24V source output)
DI = 1 point
(24V input for emergency stop)
The six input signals and eight output signals are used to open and close
the hand at the end of the loader arm as well as to control air blow and other
operations. The emergency stop input signal is used to stop the loader in
an emergency, for example, when loader overtravel is detected (by
hardware) or if the hand fractures.
r.c
om
Outline
3.7.5.2

CRM1 (MR50pin, female)
ce
nt
e
Connector
LDI01
LDI02
3
4
nc
5
6
19
*LOT
20
LDI06
21
LDI05
22
COMLD
23
COMWF
LDI03
LDI04
DCMLD
DCMLD
.c
10
11
12
13
14
15
16
LDO01
34
LDO02
35
LDO03
36
LDO04
37
LDO05
38
LDO06
39
LDO07
40
LDO08
41
FDO01
42
FDO02
43
FDO03
44
FDO04
45
FDO05
46
FDO06
47
FDO07
48
FDO08
24
8
9
33
25
DCMWF
26
DCMWF
FDI01
FDI02
27
0V
28
0V
29
0V
30
0V
31
+24V
32
+24V
FDI03
FDI04
FDI05
FDI06
FDI07
FDI08
17
0V
49
+24V
18
0V
50
+24V
89

3.7.5.3
B62443EN2/03
D LDI01 to LDI04
Connection
COMLD
R
0V
+
RV
om
LDI01 to LDI04
24 VDC
r.c
0V
COMLD is a common setting pin. When COMLD is connected to 0

V, LDI01 to LDI04 become common 24V signals. When COMLD
is connected to 24 V, LDI01 to LDI04 become common 0V signals.
The connection shown above sets LDI01 to LDI04 as common 24V
signals.
D LDI05, LDI06, *LOT (emergency stop input)
ce
nt
e
0V
nc
LDI05, LDI06, *LOT
RV
24 VDC
* The signals are tied to common 24 V.

D LDO01 to LDO08
.c
0V
DCMLD
+
LDO01 to LDO08
24 VDC
DV
0V
Connect the common voltage line of the source driver to DCMLD.

90

B62443EN2/03
3.7.5.4
Signals
signals LDI01 to LDI06
Classification
Classification
Function
nc
signals LDO01 to LDO08
Classification
Function
ce
nt
e
Common selection
signal for
generalpurpose input
signal COMLD
r.c
om
Function
: 24V input
The common voltage for LDI01 to LDI04 can be set
to 24 V or 0 V. LDI05 and LDI06 are tied to common
24 V.
: The six input signals are used to interface the hand
open/close confirmation signal for the hand at the end
of the loader arm, as well as other signals. These
input signals can be used for any purposes required
by the loader mechanical unit.
When an incremental pulse coder is used and when
zero point return is necessary, LDI01 to LDI04 are
used as deceleration signals *DEC1 to *DEC4. The
loader control CNC references the signals directly.
When zero point return is not necessary, the PMC can
use these signals for any purposes.
: Common selection
: When COMLD is connected to 0 V, LDI01 to LDI04
become common 24V input signals. When
COMLD is connected to +24 V, LDI01 to LDI04
become common 0V input signals. The signal
polarity changes accordingly. When LDI01 to LDI04
are used as common 24V signals, a closed contact
makes the signals go to logical 1. When the signals
makes the signals go logical 0.
: These eight output signals are provided to open and
close the hand at the end of the loader arm as well as
to control air blow and other operations. The signals
can be used as necessary.
: 24V input for emergency stop, tied to common 24
V
: The emergency stop input signal is provided to stop
the loader in an emergency, for example, when loader
overtravel is detected (by the hardware) or if the hand
fractures. The signal is connected to contact B. In the
normal state, 24 V should be supplied. As a DI signal,
*LOT is held to 1 in the normal state.
When the signal goes off (open contact), the DI goes
to 0, turning off the *EMG1 signal of connector
CNPW. The externally mounted emergency stop
control relay goes off, shutting down the servo MCC.
This state continues while *LOT is off. The OTR
signal is provided to temporarily release this state.
Stop System.
Classification
.c

*LOT
Function
91

signals for workpiece
feeder FDI01 to FDI08
Classification
Function
Common selection
signal for
feeder COMWF
Classification
Function
feeder FDO01 to FDO08
ce
nt
e
B62443EN2/03
r.c
om
: 24V input, set to common 24 V or 0 V

: These eight input signals are provided as an interface
with a workpiece feeder. The signals can be used for
any purpose related to the mechanical unit. When the
skip function is used, however, FDI08 is used as a
skip signal. When the skip function is not used,
FDI08 can also be used for any purpose. The signals
are connected in parallel to another connector
CNWF.
: Common selection
: When COMWF is connected to 0 V, FDI01 to FDI08
COMWF is connected to +24 V, FDI01 to FDI08
polarity changes accordingly. When FDI01 to FDI08
makes the signals go to logical 1. When the signals
makes the signals go to logical 0.
This signal is connected in parallel to another
connector CNWF.
: These eight output signals are provided as an
interface with a workpiece feeder. The signals can be
used for any purpose related to the mechanical unit.
The signals are connected in parallel to another
connector CNWF.
Connecting a
Workpiece Feeder
Outline
3.7.6.2
Connector
Eight input signals and eight output signals can be used to control a
workpiece feeder.
DI = 8 points (generalpurpose 24V input)
DO = 8 points (generalpurpose 24V source output)
The signals are provided to make the workpiece feeder go forward or
backward.
.c
3.7.6.1
nc
3.7.6
Classification
Function

CRM1 (MR50pin, female) See Section 3.7.5.2.
CNWF (MR20pin, female)
(Both connectors have identical signal pins. Use a suitable connector.)
92

B62443EN2/03
1
2
3
FDI01
8
FDI07
FDI08
FDI02
FDI03
14
FDO01
15
FDO02
16
FDO03
17
FDO04
18
FDO05
19
FDO07
10 COMWF
5
6
FDI04
FDI05
11
DCMWF
12
FDO06
FDI06
13
3.7.6.3
+24V
D FDI01 to FDI08
ce
nt
e
Connection
20
FDO08
r.c
0V
om
COMWF
FDI01 to FDI08
0V
RV
24 VDC
nc
0V
COMWF is a common setting pin. When COMWF is connected to

0V, FDI01 to FDI08 become common 24V signals. When COMWF
is connected to 24 V, FDI01 to FDI08 become common 0V signals.
The connection shown above sets FDI01 to FDI08 as common 24V
signals.
D FDO01 to FDO08
.c
DCMWF
+
FDO01 to FDO08
24 VDC
DV
0V
Connect the common voltage line of the source driver to DCMWF.

93

B62443EN2/03
3.7.6.4
Signals
signals LDI01 to LDI06
Classification
Classification
Function
nc
signals LDO01 to LDO08
Classification
Function
ce
nt
e
Common selection
signal for
signals COMLD
r.c
om
Function
: 24V input
The common voltage for LDI01 to LDI04 can be set
to 24 V or 0 V. LDI05 and LDI06 are tied to common
24 V.
: The six input signals are provided to interface a hand
open/close confirmation signal for the hand at the end
of the loader arm, as well as other signals. These
signals can be used for any purposes required by the
loader mechanical unit.
When an incremental pulse coder is used and when
zero point return is necessary, LDI01 to LDI04 are
used as deceleration signals *DEC1 to *DEC4. The
loader control CNC references the signals directly.
When zero point return is not necessary, the PMC can
use these signals for any purpose.
: Common selection
: When COMLD is connected to 0 V, LDI01 to LDI04
COMLD is connected to +24 V, LDI01 to LDI04
polarity also changes accordingly. When LDI01 to
LDI04 are used as common 24V signals, a closed
contact makes the signals go to logical 1. When the
signals are used as common 0V signals, a closed
contact makes the signals go to logical 0.
: These eight output signals are provided to open and
close the hand at the end of the loader arm as well as
to control air blow and other operations. The signals
can be used as necessary.
: 24V input for emergency stop, tied to common 24
V
: The emergency stop input signal is provided to stop
the loader in an emergency, for example, when loader
overtravel is detected (by the hardware) or if the hand
fractures. The signal is connected to contact B. In the
normal state, 24 V should be supplied. As a DI signal,
*LOT is held to 1 in the normal state.
When the signal goes off (open contact), the DI goes
to 0, turning off the *EMG1 signal of connector
CNPW. The externally mounted emergency stop
control relay goes off, shutting down the servo MCC.
This state continues while *LOT is off. The OTR
signal is provided to temporarily release this state.
Stop System.
: 24V input, set to common 24 V or 0 V
: These eight input signals are provided as an interface
with a workpiece feeder. The signals can be used for
any purpose related to the mechanical unit. When the
skip function is used, however, FDI08 is used as a
Classification
.c

*LOT
Function
feeder FDI01 to FDI08
Classification
Function
94

B62443EN2/03
feeder FDO01 to FDO08
Classification
Function
:
:
3.7.7
Connecting an
Emergency Stop
System
3.7.7.1
nc
The emergency stop control circuit of the loader I/O board is based on the
emergency stop control circuit on the loader control board of the Series
16/18MODEL A/B/C.
For details of the emergency stop control circuit, see also Section 2.6.

D Emergency stop control circuit interface C
NPW (AMP D3400, 12 pins, male)
Connector
.c
Outline
3.7.7.2
om
:
:
r.c
Classification
Function
ce
nt
e
Common selection
signal for
feeder COMWF
skip signal. When the skip function is not used,

FDI08 can also be used for any purpose. The signals
are connected in parallel to another connector
CNWF.
Common selection
When COMWF is connected to 0 V, FDI01 to FDI08
COMWF is connected to +24 V, FDI01 to FDI08
polarity changes accordingly. When FDI01 to FDI08
makes the signals go to logical 1. When they are used
as common 0V signals, a closed contact makes the
signals go to logical 0.
These signals are connected in parallel to another
connector CNWF.
24V source output, 24V/200mA load
These eight output signals are provided as an
interface with a workpiece feeder. The signals can be
used for any purpose related to the mechanical unit.
The signals are connected in parallel to another
connector CNWF.
1D
2D
3D
1C
2C
3C
*EMG1
*EMG2
1B
2B
3B
1A
2A
3A
BKIN+
95

B62443EN2/03
D Brake drive output interface

CNBK (AMP D3400, 12 pins, male)
2D
3D
1C
2C
3C
1B
2B
1A
2A
om
1D
3B
3A
.c
nc
ce
nt
e
r.c
BKOUT1+
96

B62443EN2/03
3.7.7.3
The figure below shows a sample connection of an emergency stop

system using the loader I/O board.
Sample Connection of
Emergency Stop
System
Loader I/O board

In the loader
Overtravel limit
switch
+24V
om
CRM1
+24V
When overtravel is not detected,
+24 V and *LOT are connected.
*LOT
Receiver
*LOT input
*ESPTP1
CNTP
Emergency stop button When the loader operators panel is not
ce
nt
e
necessary, *ESPTP1 and *ESPTP2 are

connected.
*ESPTP2
r.c
OTR output
Receiver
*EMG1 input
Emergency stop control

unit
(Example)
External emergency stop

(jumpered when not in use)
BKIN+
0V
CNPW
When BRAKE
output is 1, BKIN+
and BKOUT1+
are connected.
*EMG1
nc
24V relay RY1 (servo amplifier MCC

control)
*EMG2
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BKOUT1+
24V relay RY2 (brake control)
97
0V
CNBK
Driver

3.7.8
B62443EN2/03
The table below indicates I/O addresses when this board is addressed X0
and Y0.
Input signals
I/O Address Table
Address
X0000
*EMG1
*LOT
LDI06
LDI05
LDI04
LDI03
LDI02
LDI01
SKIP
FDI07
FDI06
FDI05
FDI04
FDI03
FDI02
FDI01
TDI08
TDI07
TDI06
TDI05
X0001
X0002
X0004
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X0003
TDI04
X0005
Output signals
TDI03
TDI02
TDI01
Y0000
LDO08
LDO07
LDO06
LDO05
LDO04
LDO03
LDO02
LDO01
Y0001
FDO08
FDO07
FDO06
FDO05
FDO04
FDO03
FDO02
FDO01
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Address
TCOM4 TCOM3 TCOM2 TCOM1
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Y0002
Y0003
OTR
TDO06
TDO05
TDO04
TDO03
TDO02
Y0004
TDO01
BRAKE
Y0005
3.7.9
Installation
3.7.9.1
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As shown below, an attachment for installation perpendicular to the board

is provided. This attachment can be mounted on a DIN Rail or other flat
board.
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Installation
150
24
(Used when directly mounted on
a board)
24VDC input: : CP11
I/O LINK : JD1B
2M3
(Used when mounted on a DIN
Rail)
I/O LINK : JD1A

18
0
Brake control : CNBK

ESP control : CNPW
(Below) Workpiece feeder control : CNWF

(Above) Teach pendant control : CNTP
Loader control : CRM1
98

B62443EN2/03
3.7.9.2
Installation space and
mounting holes
The figure below shows the installation space and mounting holes for
direct mounting on a board. For direct mounting on a board, the attached
metal fixture for the DIN Rail is not used.
50
2M3
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85
180
Mounting on a DIN rail
3.7.10
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Other Notes
Use a DIN Rail that is 35 mm wide and 7.5 mm high.

Remove the metal fixture for the DIN Rail, together with the fixing
screws, from the attachment. Hook the lower claw of the attachment on
the DIN rail. Raise the attachment a little until the upper claw hooks onto
the DIN Rail. Then, lower the attachment and check that the upper and
lower claws hook onto the DIN rail correctly. Remount the DIN Rail
metal fixture on the attachment and secure it with the screws.
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3.7.9.3
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40
The source output driver used for the loader I/O board has functions for
detecting load overcurrent and the temperature of the driver itself. When
the load current increases excessively because of wire grounding or
overheating of the driver, for example, the protection circuit of each driver
(eight output points) functions and holds the output off until the cause is
removed.
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D Output signal alarm

detection
To determine which driver has detected the abnormal status, check the
LED display on the loader I/O board. Once turned on, the LED display
remains on until the power is turned off.
Signal name
LED to be checked
Y0.0Y0.7
LED3
FDO0108
Y1.0Y1.7
LED2
TCOM14
Y2.0Y2.3
LED1
*
D Behavior of the output
signal when a system
alarm is issued
Address
LDO0108
The table indicates addresses, assuming that the loader I/O board is
addressed X0 and Y0.
When a system alarm is issued in the CNC using the loader I/O board or
when an I/O link communication alarm is issued, all output signals on the
loader I/O board, including brake drive output, are turned off. When the
CNC or loader I/O board is turned off, all output signals are turned off,
too.
99
4. OPERATION
OPERATION
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B62443EN2/03
100
4. OPERATION
B62443EN2/03
4.1
MDI KEY OPERATION
FOR LOADER
CONTROL
4.1.1
Switching between the NC screen and loader screen
Each time this operation is performed, the display switches between the NC screen
and loader screen. Note, however, that this operation is possible only when the DI
signal LCBS (G251.1) on the NC is set to 0.
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<SHIFT> + <HELP>
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Screen Switching
4.1.2
Poweron
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Memory allclear at poweron

<DELETE> + <RESET>
Clears all the memory areas of the NC (both the main and sub sides when the dual
NC is used) and the loader.
<CAN> + <2>
Clears all the memory areas of the sub side of the dual NC.
<CAN> + <5>
Clears all the memory areas of the loader.
Clearing parameters/offsets at poweron (parameters only for the loader)

Clears the parameters/offsets for the NC (main side when the dual NC is used).
<RESET> + <2>
Clears the parameters/offsets for the sub side of the dual NC.
<RESET> + <5>
Clears the parameters for the loader.
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<RESET> + <1>
Clearing programs at poweron
<DELETE> + <2>
<DELETE> + <5>
Clears the programs for the NC (main side when the dual NC is used).
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<DELETE> + <1>
Clears the programs for the sub side of the dual NC.
Clears the programs for the loader.
Clearing the RAM module of a PMC at poweron
Clears the RAM module of the NC PMC.
<X> + <5>
Clears the RAM module of the loader PMC.
<X> + <0>
NOTE
These memory clear operations do not clear macro RAM.
Instead, RAM is cleared when macro programs are
transferred by the Pcode loader. The loader control option
for the Series 16/18MODEL B/C and Series 21TB, Series
16i/18i/21i clears macro RAM unconditionally at poweron.
Resetting the software overtravel alarm at poweron
<CAN> + <P>
Resets the software overtravel alarm on the NC.
<CAN> + <L>
Resets the software overtravel alarm on the loader.
101
4. OPERATION
B62443EN2/03
Activating the Pcode loader (For Series 16/18, Series 16i/18i/21i)

<CAN> + <PROG>
Activates the Pcode loader.
Starting the boot system for the Series 16/18MODEL B/C and Series 21TB, Series 16i/18i/21i
Rightmost two soft keys
Starts the boot system for the Series 16/18MODEL B/C and Series 21.
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NOTE
The Series 21 does not support the Pcode loader function.
102
4. OPERATION
B62443EN2/03
4.2
STARTING THE
LOADER CONTROL
The boot system load the CNC system software (flash RAM DRAM),
then start it so that software can be executed.
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For details of the functions and operation of the boot system, refer to the
corresponding CNC maintenance manual.
D FANUC Series 16/18/160/180MODEL B MAINTENANCE
MANUAL B62445E
D FANUC Series 16/18/160/180MODEL C MAINTENANCE
MANUAL B62755EN
D FANUC Series 16i/18i/160i/180iMODEL A MAINTENANCE
MANUAL B63005EN
D FANUC Series 21/210 MAINTENANCE MANUAL B62705EN
D FANUC Series 21i/210iMODEL A MAINTENANCE MANUAL
B63085EN
(1) Memory card interface

The Series 16/18B/C and Series 21TB have a memory card
interface on their LCB (loader control) boards. The boot system,
however, uses only the interface on the main board.
The memory card interface on the LCB board is used only for a PMC
ladder editing card. Insert the ladder editing card before powerup.
For ladder editing, refer to FANUC PMC LADDER
PROGRAMMING MANUAL (B61863E).
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D Memory card interface

and flash ROM on the
LCB board
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4.2.1
Boot System for
Series
16/18MODEL B/C
and Series 21TB,
Series
16i/18i/21iMODEL
A
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(2) Flash ROM

In the Series 16/18, the flash ROM on the LCB board should store just
a PCODE macro file for loader control. Store a ladder file in the flash
ROM on the main board.
The table below lists the loader control files and their storage
locations.
File type
Storage location
Loader PMC ladder program
Main flash ROM
Loader PCODE macro file
LCB flash ROM
When using the Series 21, select a board on the Boot Slot
Configuration screen. When handling (entering, deleting, etc) a main
file, select MAIN (main board). When handling a loader file, select
LCB (loader control board).
File type
Board selection
Main PMC ladder
MAIN
Main PCODE macro file
MAIN
Loader PMC ladder
LCB
Loader PCODE macro file
LCB
The Series 16i/18i/21i has no flash ROM on its LCB board. Both a
loader PMC ladder program and PCODE macro file are stored in the
flash ROM on the motherboard.
103
4. OPERATION
B62443EN2/03
D File names in flash

memory
The boot system identifies a file in flash ROM by the first four characters
of the file name. When a file is read from a memory card while a file
having a file name starting with the same four characters exists, the
existing file is deleted, then the new file is read into the flash memory. The
table below lists the file names and corresponding contents. The file
names are subject to change without notice.
D Series 16/18B/C, Series 16i/18i/21i
Contents
NC BASIC
DG SERVO
GRAPHIC
NCj OPTN
PMCj****
Basic
Servo
Graphic
Option
PMC control software, etc.
PCD ****
PCODE macro file/OMM

(Series 16/18B/C)
PCODE macro file/OMM
(Series 16i/18i/21i)
C executor
Ladder software
Loader ladder software
System file
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PD1L ****
File type
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File name
CEX!****
PMC - ****
PMC@****
User file
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A square (V) represents a single numerical character. An asterisk (*)

represents a single alphabetical character.
For the name of the PCODE macro file of the Series 16i/18i/21i,
refer to FAPT MACRO COMPILER PROGRAMMING
MANUAL (B66102).
Series 21TB
File name
.c
LCB
D Backup file name
Number of
files
SRAM
size
File type
NC BASIC
DG SERVO
NC1 OPTN
PMCOBSC
Basic
Servo
Option
PMC control
System file
PCD ****
PMCRA
PCODE macro file

PMC ladder
User file
LC BASIC
PMCBBSC
Basic (for loader control)

PMC control (for loader control)
System file
PCD ****
PMC@RA
PCODE macro file (for loader control)

PMC ladder (for loader control)
User file
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MAIN
Contents
An SRAM backup file on a memory card is given a name determined by

the size of the SRAM mounted on the CNC. When the size of the SRAM
is greater than or equal to 1 MB, multiple 512KB backup files are
created.
D Series 16/18B/C
2
256KB
SRAM256A.FDB
0.5MB
SRAM0_5A.FDB
1.0MB
SRAM1_0A.FDB
SRAM1_0B.FDB
1.5MB
SRAM1_5A.FDB
SRAM1_5B.FDB
SRAM1_5C.FDB
2.5MB
SRAM2_5A.FDB
SRAM2_5B.FDB
SRAM2_5C.FDB
104
SRAM2_5D.FDB
SRAM2_5E.FDB
4. OPERATION
B62443EN2/03
Series 21TB
SRAM size
MAIN
LCB
File name
Remarks
256KB
SRAM256K. XXX
512KB
SRAM512K. XXX
512KB
SRAM_LCB. XXX
Backup of SRAM on the main board

Backu
Backup of SRAM on the LCB board
Series 16i/18i/21i
Number of
files
SRAM
size
256KB
SRAM256A. FDB
0.5MB
SRAM0_5A. FDB
1.0MB
SRAM1_0A. FDB SRAM1_0B. FDB
2.0MB
SRAM2_0A. FDB SRAM2_0B. FDB SRAM2_0C. FDB SRAM2_0D. FDB
3.0MB
SRAM3_0A. FDB SRAM3_0B. FDB SRAM3_0C. FDB SRAM3_0D. FDB SRAM3_0E. FDB SRAM3_0F. FDB
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The Series 21i has an SRAM of up to 0.5 MB.

When an LCB board or other nonmain board is connected, the backup
file of the SRAM on the board is given the following file extension.
D Series 16/18B/C
Board type
Main
OPT2
OPT3
LCB
Extension
FDB
OP2
OP3
LCB
Series 16i/18i/21i
Main
PMCRE
CAPII
LCB
Extension
FDB
PMC
CAP
LCB
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Board type
105
4. OPERATION
B62443EN2/03
4.2.2
Starting the NC and
Loader Control
1
Turn on the power.
Enter the parameters and ladder programs for the NC.
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If bit 7 of parameter No. 8100 for the NC is set to 0 at this time, the NC cannot exit from reset processing. In
this case, set the servo parameters for loader control correctly, then turn the power off then back on again.
Then, the NC can exit from reset processing when the emergency stop is released on the loader.
When bit 7 of parameter No. 8100 is set to 1, the NC can exit from the reset processing, regardless of the
loader control parameters.
Switch to the loader control screen.
Set the parameters.
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If the DI signal LCBS (G251.1) is being processed by an NC ladder program, set the signal to 1 to switch to
the loader control screen.
If the DI signal LCBS (G251.1) is not being processed by an NC ladder program, press the <SHIFT> and
<HELP> keys at the same time to switch to the loader control screen.
(1) Parameter setting through the MDI

i)
Establish MDI mode or the emergency stop state.
ii) Set PARAMETER WRITE on the setting screen to 1 (ENABLE). At this time, alarm P/S 100 is displayed.
iii) Press the [SYSTEM] key to display the parameter screen.
iv) Position the cursor to each required parameter, then set the parameter.
v) Upon the completion of input for each parameter, set PARAMETER WRITE on the setting screen to 0.
vi) If alarm P/S 000 is issued, turn the power off then back on again.
i)
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(2) Parameter
P
t input
i
t through
th
h the
th RS232C
RS 232C interface
i t f
Establish EDIT mode or the emergency stop state.
ii) Set PARAMETER WRITE on the setting screen to 1 (ENABLE). At this time, alarm P/S 100 is displayed. In EDIT mode, however, PARAMETER WRITE cannot be set to 1. So, establish the emergency stop state or MDI mode before attempting to set PARAMETER WRITE to 1.
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iii) Press the [SYSTEM] key to display the parameter screen.

iv) To read the parameters through the RS232C interface, press the [OPRT], [>], [READ], then [EXEC]
soft keys.
v) Upon the completion of parameter input, set PARAMETER WRITE on the setting screen to 0.
vi) If alarm P/S 000 is issued, turn the power off then back on again.
106
4. OPERATION
B62443EN2/03
Enter ladder programs.

(1) When ladder RAM operation is performed with the loader for the Series 16/18MODEL A
D
Enter the ladder programs through the RS232C interface, after first turning the power off then back
on again.
(2) When the loader for the Series 16/18MODEL B/C and Series 21 is used
D
When macro executor RAM operation is performed with the loader for the Series 16/18MODEL A
i)
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Enter the ladder programs from the memory card through the RS232C interface. Read the ladder
programs after switching to the loader screen, in the same way as for parameter input. For details of
the operation, refer to the descriptions of write, read, and check (I/O) for sequence programs and PMC
parameter data in the ladder language programming manual.
Insert the RAM module into the slot marked MACRO on the loader control board.
ii) Hold down both the <CAN> and <PROG> keys, and turn on the power.
iii) The Pcode loader tool post selection screen appears. Press <5>.
iv) After preparation for loading has been completed, press <1>. This sets the receive ready state.
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v) Send the macro programs from the PG or personal computer.
vi) After macro program transfer has been completed and a message displayed, press <1> to return to
the menu screen of iii) above.
vii) Press <0> to start the NC and loader.
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When macro executor operation is performed using the loader for the Series 16/18MODEL B/C, Series
16i/18i/21i
Hold down both the <CAN> and <PROG> keys and turn on the power.
ii) The Pcode loader tool post selection screen appears. Press <5>.
iii) After preparation for loading has been completed, press <1>. This establishes the receive ready
state.
iv) Send the macro programs from the PG or personal computer.
v) After macro program transfer has been completed, press <1> to write to the flash ROM, or press
<CAN> to abandon writing to the flash ROM.
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vi) After flash ROM write has been completed and a message displayed, press <1>.
vii) The user can return to the tool post selection screen of ii) above by pressing <CAN> in v) or <1> in vi).
viii) To start the NC and loader, press <0> on the tool post selection screen.
When macro executor operation is performed using the loader for the Series 21TB
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For the Series 21TB, the memory card interface is used to load a Pcode macro program. Load a Pcode
macro program from the memory card into flash memory, as explained in Subsec. 3.2.1.
The Series 21 does not support the use of the RS232C interface to load a PCODE macro program.
NOTE
1 Before the macro executor can be used with the loader, the
macro executor option must be selected for the loader. For
RAM operation, the RS232C option is required.
2 The RS232C parameter, set for the NC (main side when
the dualsystem option is used), is used.
107
4. OPERATION
B62443EN2/03
4.2.3
When Loader Control
is Added
1
Hold down both the <CAN> and <5> keys, and turn on the power.
All loader memory areas are cleared. (The NC memory is not affected.)
At this time, the symptom described in 2 of Section 3.2.2 arises.
The subsequent operations are the same as in 3 through 6 of Section 3.2.2.
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To check that the NC starts, set bit 7 of parameter No. 8100 to 1, then turn the power off then back on.
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[Explanation]
D Why memory must be cleared:
When the memory power is not turned on, the states of the
bits are undefined. If RAM is read in such a state, there is
very high probability that a RAM parity alarm will be issued.
(If an NC parity error occurs, an alarm between No. 910 and
No. 919 is issued. If a loader parity error occurs, alarm No.
972 is issued.)
D When the macro executor RAM must be inserted into the
loader control board (with the loader for the Series
16/18MODEL A only)
The RAM board for macro executor debugging is not
cleared by turning on the power. So, a RAM parity error may
occur if the RAM board is not cleared. However, macro RAM
is cleared by activating the Pcode loader. This means that
the RAM board can be inserted at any time after the RAM
is cleared at poweron and or at macro RAM clear using the
Pcode loader.
108
4. OPERATION
B62443EN2/03
4.2.4
Special Parameters to
be Set
For loader control, the following parameters must always be set as

described below.
When bit 7 of parameter No. 8100 is set to 0, servo motor activation is

simultaneously started for all axes after activation of all servo motors on
the NC and loader sides has become possible. So, if the emergency stop
state is set, or a servo alarm is issued on a loader control axis because of
incorrect servo parameter setting, for example, the NC holds reset
processing. That is, the NC cannot exit from reset processing until
activation on the loader control side has become possible.
When bit 7 of parameter No. 8100 is set to 1, synchronous activation is
not performed, activation instead being started independently. So, the NC
need not hold reset processing.
So, when the loader is to be started after the NC has successfully started,
set bit 7 of parameter No. 8100 to 1 for both the NC and loader. If this
bit is set to 0, the NC does not exit from reset processing after poweron
until the emergency stop state is released and provided no servo alarms
are issued for any axis.
In cases where the NC and loader share a twoaxis amplifier so that the
NC uses one axis and the loader uses the other, however, always set this
bit to 0.
Bit 3 of parameter
No. 3003
Set bit 3 of parameter No. 3003 to 1. Otherwise, movement along any axis
may not be possible.
Bit 4 of parameter
No. 3402
Set bit 4 of parameter No. 3402 to 1. Otherwise, cutting feed may not be
performed normally.
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This bit is used to ignore hardware overtravel.

When the overtravel limit signals (G110, G112) are not used, and bit 5 of
parameter No. 3004 is set to 1, overtravel alarms 506 and 507 are not
issued.
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Bit 5 of parameter
No. 3004
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Bit 7 of parameter
No. 8100
Specify 768 in this parameter.

If this parameter is not set, and version B25101 is being used, alarm 972
may be issued when a large ladder program is executed.
This parameter need not be set when later versions are being used.
Parameter No. 8710

(This parameter needs to
be set only when version
B25101 of the Series
16/18MODEL A loader
control is being used.)
109
4. OPERATION
B62443EN2/03
4.3
PROGRAMMING
4.3.1
The table below lists the G codes that can be used with the loader control
option. When the G code column and group column are divided into two,
the lefthand column indicates the G codes for the T series, while the
righthand column indicates those for the M series.
Group
Function
G00
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G code
Positioning (Rapid traverse)
G01
Linear interpolation (Cutting feed)
01
G02
Circular interpolation CW
G03
Circular interpolation CCW
G04
Dwell
G10
00
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G Codes
Data setting
G11
Parameter input mode cancel
G17
XpYp plane selection
16
02
ZpXp plane selection
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G18
G19
YpZp plane selection
G20
G21
G22
09
G23
04
Stored stroke limit function off

Return to reference position
G30
2nd, 3rd, 4th reference position return
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G28
00
G92
Skip function
Coordinate system setting
Local coordinate system setting
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G52
Stored stroke limit function on

Reference position return check
G50
Metric data input
G27
G31
Inch data input
06
G53
Machine coordinate system selection
G54
Workpiece coordinate system 1 selection
G55
G56
14
G57

G58
G59
G65
00
G66
12
G67
G90
03
G91
110
Macro calling
Macro modal calling
Cancel of macro modal calling
Absolute input
Incremental input
4. OPERATION
B62443EN2/03
4.4
LOADER CONTROL
FUNCTIONS
4.4.1
D Overview
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Multipath Wait
Function with M Code
(T Series Only)
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1) Twopath wait function

When an M code is specified for the NC and loader control of the
FANUC Series 16TA, 16TB, 18TA, or 21TB a twopath wait
can be executed.
D When a waiting M code is specified in the programs for the NC and
loader, either can wait for the other in the specified block.
D The M code must be specified in a single block as shown below:
Mm ;
m: Waiting M code number
2) Threepath wait function (for the Series 16/18)
A system featuring a twopath (TT) NC and loader control can use
a threepath wait function.
The range of threepath waiting M codes is specified in the main and
loader parameters (parameters 8110 and 8111) in the same way as the
range of twopath waiting M codes is specified.
D A wait pattern is specified after address P in the same block as the
waiting M code. Address P is used to distinguish a threepath wait
from a twopath wait.
D The M code must be specified in a single block, as shown below:
Mm Pp ;
m: Waiting M code number
p : Number specifying a wait pattern
D Table 3.4.1 lists addressP values and their meanings:
Address P
Examples
Table 3.4.1
Meaning
Wait pattern
(Not used)
Bits 7 to 3
Loader
Bit 2
SUB
Bit 1
MAIN
Bit 0
P3
MAINSUB wait
00000
P5
MAINloader wait
00000
P6
SUBloader wait
00000
P7
MAINSUBloader wait
00000
When the wait ignore signal (G1063.7) of tool post 2 is set to 1 and M101
to M103 are specified as waiting M codes
Parameter setting : Parameter 8110 = 101
Parameter 8111 = 103
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4. OPERATION
B62443EN2/03
O0100;
G50 X Z ;
G00 X Z T0101;
S1000 M03;
S
S
S
S
M101 P3; 1
G01 X Z F ;
S
S
S
S
S
M102 P7; 2
O0200;
G50 X Z ;
G00 X Z T0202;
S2000 M03;
M101 P3; 1
G01 X Z F ;
S
S
S
S
S
S
S
M102 P7; 2
M103 P7; 3
G01 X Z F ;
S
S
S
S
S
S
S
S
S
S
S
S
<<Wait (M103)>>
Z
S
S
S
S
<<Wait (M102)>>
Z ;
S
S
S
M103 P7; 3
G00 X
G00 X
Z
S
S
S
S
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G01 X
O0300;
G00 X Z ;
M102 P7; 2
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M103 P7;
Loader program
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Program for tool post 2
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Program for tool post 1
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1 M101 P3; (wait between tool posts 1 and 2)

If the wait ignore signal of tool post 2 was set to 0, tool posts 1 and 2
would wait for each other. In this example, however, the wait ignore
signal of tool post 2 is set to 1. When executing the waiting M code,
tool posts 1 and 2 immediately assume that the wait has been
completed and execute the next instruction.
Tool posts 1 and 2 do not wait for each other.
2 M102 P7; (Wait by tool post 1, tool post 2, and loader)
In this example, the loader waits until the processing being performed
by tool posts 1 and 2 terminates.
Because the wait ignore signal of tool post 2 is set to 1, the loader waits
until the processing of tool post 1 ends, then executes the next
instruction.
3 M103 P7; (Wait by tool post 1, tool post 2, and loader)
In this example, tool posts 1 and 2 wait until the processing being
performed by the loader terminates.
Because the wait ignore signal is set to 1, tool post 2 does not wait until
the loader processing terminates, instead proceeding to the next step.
Tool post 1 waits for the loader.
112
4. OPERATION
B62443EN2/03
D Signals
Twopath wait ignore signal

NOWT <G063, bit 1>
[Classification]
[Function]
[Operation]
Input signal
Specifies whether to execute a twopath wait with an
M code.
0: A twopath wait with an M code is executed.
1: A twopath wait with an M code is not executed.
om
Threepath wait ignore signal

NMWT <G063, bit 7>
Input signal
A threepath waiting M code can be ignored.
0: A threepath waiting M code is valid. The tool
post or loader of another path will wait for the tool
post or loader of this path.
1: A threepath waiting M code is invalid. When the
waiting M code is executed, it is assumed that the
wait has been completed. Therefore, the tool post
or loader of another path will not wait for the tool
post or loader of this path.
D When a program including a multipath waiting M
code is executed automatically, this signal is used
to stop a tool post or loader while automatic
operation is being performed by the other tool
post or loader. The wait ignore signal for the tool
post or loader to be stopped must be set to 1.
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r.c
[Classification]
[Function]
[Operation]
Waiting signal (for both twopath and threepath waits)
nc
WATO <F063, bit 6>
Output signal
Output signal
Reports that an M code of a tool post is being
awaited.
[Output conditions] The signal is set to 0 when
D A tool post is not being awaited.
The signal is set to 1 while
D A tool post is being awaited, that is, for the
period between a waiting M code being
specified and the M code being specified on
the other path.
1 Wait ignore signal
.c
[Classification]
[Classification]
[Function]
MAIN
#7
G0063
#6
#5
#4
#3
#2
NMWT
#1
#0
NOWT
SUB
#7
G1063
NMWT
113
#6
#5
#4
#3
#2
#1
#0
4. OPERATION
B62443EN2/03
Loader control
#7
G0063
#6
#5
#4
#3
#2
#1
#0
NMWT
NOWT : Twopath wait ignore signal

NMWT : Threepath wait ignore signal

#7
F0063
#6
#5
#4
WATO
#7
F1063
#6
WATO
#3
#2
r.c
SUB
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2 Waiting signal
#5
#4
#3
#2
#1
#0
#1
#0
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WATO : Waiting signal (for both twopath and threepath

waits)
3 Miscellaneous function code signal

MAIN, loader control
#6
#5
#4
#3
#2
#1
#0
F0010
M07
M06
M05
M04
M03
M02
M01
M00
F0011
M15
M14
M13
M12
M11
M10
M9
M8
nc
#7
F0012
M23
M22
M21
M20
M19
M18
M17
M16
F0013
M31
M30
M29
M28
M27
M26
M25
M24
.c
SUB
#7
#6
#5
#4
#3
#2
#1
#0
F1010
M07
M06
M05
M04
M03
M02
M01
M00
F1011
M15
M14
M13
M12
M11
M10
M9
M8
F1012
M23
M22
M21
M20
M19
M18
M17
M16
F1013
M31
M30
M29
M28
M27
M26
M25
M24
#4
#3
#2
#1
#0
M00 TO M31 : M code signal
D Parameters
#7
#6
#5
8101
MWB
[Data type]
: Bit
MWB A waiting M code is:
0: Buffered.
1: Not buffered.
114
4. OPERATION
B62443EN2/03
NOTE
An M code not to be buffered as specified in parameters
3411 to 3420 is not buffered, irrespective of the MWB
setting.
8110
Waiting M code range (minimum value)
om
[Data type]
: 2 words
[Valid data range]: 0 and 100 to 99999999
This parameter specifies the minimum value of the waiting M code.
r.c
The waiting M code range is specified using parameter 8110 (minimum

value) and parameter 8111 (maximum value).
(parameter 8110) v (waiting M code) v (parameter 8111)
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NOTE
A value of 0 indicates that the waiting M code is not used.
8111
Waiting M code range (maximum value)
[Data type]
:
[Valid data range]:
2 words
0 and 100 to 99999999
This parameter specifies the maximum value of the waiting M code.
nc
D Alarms and messages
No.
MISMATCH WAITING
MCODE
In a twopath wait
(1) The NC and loader programs
specify different M codes.
(1) The commands have identical P
values but different M codes.
(2) The commands have identical
M codes but different P values.
w
w
Description
In a threepath wait
.c
160
Message
(3) Both twopath and threepath

wait are simultaneously speci
fied.
161
ILLEGAL P OF WAITING
MCODE
(1) The address P value is nega

tive, 1, 2, 4, or a value greater
than 8.
(2) The specified P value conflicts
with the system configuration.
An alarm causes a singleblock stop to occur, causing the path to enter the
automatic operation stop state. Meanwhile, the other path or paths stop
immediately and enter the automatic operation stop state.
115
4. OPERATION
B62443EN2/03
r.c
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CAUTION
1 In a system featuring twopath NC (TT) and loader control,
a twopath waiting M code functions as a waiting M code for
tool posts 1 and 2.
If a waiting M code is included in a loader program, it is
processed as a general M code.
2 The twopath waiting M code differs from other M codes in
that the code signal and strobe signal are not output.
3 The threepath waiting M code differs from the twopath
waiting M code in that the code signal is output. However,
the strobe signal is not output and FIN processing is
unnecessary.
ce
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NOTE
If the settings made for the CNC and loader are different, a
correct wait cannot be performed. While one waits for an M
code, the other processes the M code as a general M code.
When the playback option is selected, the TEACH IN JOG mode and
TEACH IN HANDLE mode are added. In these modes, a machine position
along the X, Z, and Y axes obtained by manual operation is stored in
memory as a program position to create a program.
The words other than X, Z, and Y, which include O, N, G, R, F, C, M, S,
T, P, Q, and EOB, can be stored in memory in the same way as in EDIT
mode.
nc
4.4.2
Creating
Programs In
Teach In Mode
.c
Procedure for Creating Programs in TEACH IN Mode

The procedure described below can be used to store a machine position
along the X, Z, and Y axes.
1 Select the TEACH IN JOG mode or TEACH IN HANDLE mode.
2 Move the tool to the desired position with jog or handle.
3 Press
PROG
key to display the program screen. Search for or register
the number of a program to be edited and move the cursor to the

position where the machine position along each axis is to be
registered (inserted).
4 Key in address X .
5 Press the
INSERT
key. Then a machine position along the X axis is
stored in memory.
(Example) X10.521 Absolute position (for mm input)
X10521 Data stored in memory
116
4. OPERATION
B62443EN2/03
6 Similarly, key in Z , then press the
INSERT
key. Then a machine
position along the Z axis is stored in memory. Further, key in Y ,

then press the
INSERT
key. Then a machine position along the Y axis is
stored in memory.
All coordinates stored using this method are absolute coordinates.
O1234 ;
N1 G50 X100000 Z200000 ;
N2 G00 X14784 Z8736 ;
N3 G01 Z103480 F300 ;
N4 M02 ;
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Examples
X
r.c
P0 (100000,200000)
P1
(14784,8736)
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P2 (10000,103480)
1 Set the setting data SEQUENCE NO. to 1 (on). (The incremental

value parameter (No. 3212) is assumed to be 1.)
2 Select the TEACH IN HANDLE mode.
3 Make positioning at position P0 by the manual pulse generator.
nc
4 Select the program screen.
5 Enter program number O1234 as follows:
.c
INSERT
This operation registers program number O1234 in memory.

Next, press the following keys:
EOB
INSERT
An EOB (;) is entered after program number O1234. Because no

number is specified after N, sequence numbers are automatically
inserted for N0 and the first block (N1) is registered in memory.
6 Enter the P0 machine position for data of the first block as follows:
INSERT
INSERT
INSERT
EOB
INSERT
This operation registers G50 X100000 Z200000 ; in memory. The

automatic sequence number insertion function registers N2 of the
second block in memory.
7 Position the tool at P1 with the manual pulse generator.
8 Enter the P1 machine position for data of the second block as follows:
INSERT
INSERT
INSERT
EOB
INSERT
This operation registers G00 X14784 Z8736; in memory. The

automatic sequence number insertion function registers N3 of the
third block in memory.
117
4. OPERATION
B62443EN2/03
9 Position the tool at P2 with the manual pulse generator.

10 Enter the P2 machine position for data of the third block as follows:
INSERT
EOB
INSERT
INSERT
INSERT
INSERT
EOB
INSERT
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This operation registers G01 Z103480 F300; in memory.

The automatic sequence number insertion function registers N4 of the
fourth block in memory.
11 Register M02; in memory as follows:
N5 indicating the fifth block is stored in memory using the automatic
DELETE
key to delete it.
r.c
sequence number insertion function. Press the
This completes the registration of the sample program.
D Checking contents of the

memory
ce
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Explanations
The contents of memory can be checked in the TEACH IN mode by using

the same procedure as in EDIT mode.
PROGRAM
RELATIVE
U
85.216
W 191.264
O1234 N00004
ABSOLUTE
X
14.784
Z
8.736
.c
nc
O1234 ;
N1 G50 X100000 Y0 Z20000 ;
N2 G00 X14784 Z8736 ;
N3 G01 Z103480 F300 ;
N4 M02 ;
%
D Registering a position
with compensation
D Registering commands
other than position
commands
_
THND
****
PRGRM
LIB
***
***
14 : 17 : 27
(OPRT)
When a value is keyed in after keying in address X , Z , or Y ,

then the
INSERT
key is pressed, the value keyed in for a machine position
is added for registration. This operation is useful to correct a machine

position by keyin operation.
Commands to be entered before and after a machine position must be
entered before and after the machine position is registered, by using the
same operation as program editing in EDIT mode.
118
4. OPERATION
B62443EN2/03
4.4.3
LoaderNC
Communication
Signals
D Overview
G0252 to G0255
F0212 to F0219
r.c
G0212 to G0219
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The loader control PMC and machine control PMC communicate via 96
or 192 signals.
An F address signal of the loader control PMC informs the contents of the
corresponding G address signal of the machine control PMC.
An F address signal of the machine control PMC indicates the contents
of the corresponding G address signal of the loader control PMC.
96 signals
F0252 to F0255
G0212 to G0219
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F0212 to F0219
F0252 to F0255
Machine
control
PMC
96 signals
G0252 to G0255
F1212 to F1219
G1212 to G1219
G1252 to G1255
96 signals
Loader
control
PMC
F1252 to F1255
G1212 to G1219
nc
F1212 to F1219
96 signals
G1252 to G1255
F1252 to F1255
LoaderNC communication signals

<F0212 to F0219, F0252 to F0255, F1212 to F1219, F1252 to F1255>
[Classification] Output signal
[Function]
Reports the contents of the corresponding G address
signal of the other PMC.
[Output conditions]
A bit is set to 0 when
D The corresponding bit of the G address of the
other PMC is 0.
A bit is set to 1 when
D The corresponding bit of the G address of the
other PMC is 1.
(Example)
When bit 0 in G212 of the NC (machine) PMC is set
to 1, bit 0 in F212 of the loader PMC is also set to 1.
.c
D Signals
D Parameters
Data
No.
#7
#6
#5
8102
#4
#3
#2
#1
#0
S19
[Data type]
: Bit
S19 The loader and NC use:
119
4. OPERATION
B62443EN2/03
0 : 96 communication signals (G/F0212 to G/F0219

and G/F0252 to G/F0255).
1 : 192 communication signals.
om
NOTE
1 For this parameter setting to take effect, the power must be
turned off then back on.
2 Only the loader supports this parameter.
4.4.4
r.c
Loader Control
Selection Signal
When the loader control function is provided, a loader control selection

signal is added to the standard CNCPMC interface. The loader control
selection signal is similar to the HEAD signal of the 16TTA or 18TTA.
The signal switches the object of the CRT display or MDI operation
between the loader and NC.
D Explanation
Loader control selection signal (Only the NC (machine) supports this

signal.)
ce
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D Overview
LCBS
<G0251, bit 1>
[Classification]
[Function]
.c
nc
[Operation]
No.
#7
Input signal
Switches the object of CRT display or MDI operation
between the loader and NC.
0 : NC (machine) is subjected to the CRT display or
MDI operation.
1 : Loader control is subjected to the CRT display or
MDI operation.
#6
#5
#4
G251
D Parameter
D Alarm and message
#3
#2
#1
#0
LCBS
This function has no related parameters.

This function has no related alarms.
NOTE
1 When LCBS is set to 1, the object of CRT display or MDI
operation can be switched to the loader or NC by holding
down <SHIFT> on the MDI panel and pressing <HELP>.
2 Only the NC (machine) PMC supports the loader control
selection signal (LCBS).
120
5. MAINTENANCE
B62443EN2/03
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MAINTENANCE
121
5. MAINTENANCE
B62443EN2/03
5.1
LOADER CONTROL
BOARD LED
DISPLAY
LED Display Transition
at Powerup
LED display (V : OFF, J: ON, The STATUS LEDs are green. The
ALARM LEDs are red.)
LED display
NC status
STATUS
VVVV
Power OFF
STATUS
JJJJ
Startup status immediately after power is turned or

CPU is not running
STATUS
VJJJ
STATUS
JVJJ
STATUS
VVJJ
r.c
No
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5.1.1
Initializing RAM
Software ID has been set, initialization of keys, ALL

CLR
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Waiting for software initialization 1
STATUS
JJVJ
Waiting for software initialization 2, initializing

CMOS
STATUS
VJVJ
Initializing position coder
STATUS
VJJV
Waiting for digital servo system start up
STATUS
JVVV
Startup has been completed and the system is now

in normal operation mode
LED display (V : OFF, J: ON, The STATUS LEDs are green. The
ALARM LEDs are red.)
nc
5.1.2
LED Display When an

Error Occurs
.c
No
STATUS
ALARM
STATUS
ALARM
STATUS
ALARM
NC status
VJVV
JVV
Parity error of loader control occured
VJVV
VVJ
Servo alarm of loader control occured
VJVV
VVV
Other than parity or servo alarms occured
LED display
122
5. MAINTENANCE
B62443EN2/03
5.2
LED DISPLAY ON
THE LOADER
CONTROL BOARD
OF THE SERIES
16i/18i/21i
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5.2.1
Position of LEDs
CA54
ce
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LED
r.c
JNA
STATUS(Green)
.c
nc
ALARM(Red)
JD1A
5.2.2
LED Display Transition

at PowerUp
No.
LED display
Description
STATUS
jjjj
Poweroff status
STATUS
JJJJ
Immediately after powerup
STATUS
JJJj
RAM initialized
STATUS
JJjJ
Software ID set, keys initialized
STATUS
JJjj
Waiting for completion of software initialization 1
STATUS
JjJJ
Waiting for completion of software initialization 2
STATUS
JjJj
Position coder initialized, etc.
STATUS
jJJj
Waiting for digital servo initialization
STATUS
jjjJ
Initialization completed (steady state)
: On
: Off
123
5. MAINTENANCE
B62443EN2/03
5.2.3
LED Display When an
Error Occurs
LED
Description
ALM1
SRAM parity error
ALM2
Servo alarm
ALM3
Other alarm
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ALM4
124
5. MAINTENANCE
B62443EN2/03
5.3
PC BOARD
CONFIGURATION
Series 16/18MODEL A
Drawing number : A16B22000960

Connector
name
PMC ROM
JNA
7
10
FBUS
BRAKE
ESP
CNBK
CNPW
Brake output
Emergency stop
IO1
TP
CNWF
CNTP
DI/DO for workpiece feeder

DI/DO for loader operators panel
IOLINK
AOUT
APCBAT
JD1A
JA8
JA4
Serial I/O LINK

Servo waveform check output
Battery for APC
AMP1
AMP2
AMP3
AMP4
JV1
JV2
JV3
JV4
Servo amplifier for 1st axis

Servo amplifier for 2nd axis
Servo amplifier for 3rd axis
Servo amplifier for 4th axis
IO2
CRM1
DI/DO for loader main body
JF
CRF1
1st to 4th pulse coder
nc
Back
plane
connector
11
Use
ce
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Connector
number
r.c
LED
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5.3.1
No
.c
SERVO ROM
Name
Code
Function
ROM module
A20B29000290 to 0293
ROM for macro
ROM module
A20B29000290 to 0292
ROM for loader control system
SRAM module
A20B29000530
RAM for PMCRA1 debug
A20B29000530, 0531
Part program strage and RAM for parameter
SRAM module
A20B29000540, 0541
PMC control module
A20B29000142, 0143
PMC arithmetical control
CPU module
A20B29000930
CPU and peripheral circuit
System control module
A20B29000108
Clear, backup control, etc
Servo control module
A20B29010340
3rd, 4th axis digital servo control
A20B29010340
1st, 2nd axis digital servo control
10
Servo interface module
A20B29010380
3rd, 4th axis servo interface
11
Servo interface module
A20B29010380
1st, 2nd axis servo interface
125
5. MAINTENANCE
B62443EN2/03
5.3.2
Series 16/18MODEL B
Based on the Main A
Specification
JNA
FBUS
Name
No
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Use
BRAKE
ESP
CNBK
CNPW
Brake output
Emergency stop
IO1
TP
CNWF
CNTP

IOLINK
AOUT
APCBAT
JD1A
JA8
JA4
Serial I/O LINK

Battery for APC
AMP1
AMP2
AMP3
AMP4
JV1
JV2
JV3
JV4

IO2
CRM1
JF
CRF1
1st to 4th pulse coder
nc
Back
plane
connector
Connector
number
ce
nt
e
Connector
name
r.c
LED
Code
FROM module
DRAM module
A20B29010940 to 0942
DRAM for system
A20B29020060 to 0061
A20B29020060 to 0061
PMC module
A20B29000142 to 0143
PMC arithmetic control
.c
A20B29020082
Function
126
FROM for macro
5. MAINTENANCE
B62443EN2/03
5.3.3
BRAKE
ESP
JNA
FBUS
5
CNBK
CNPW
Brake output
Emergency stop
CNWF
CNTP

IOLINK
AOUT
JD1A
JA8
Serial I/O LINK

AMP1
AMP2
AMP3
AMP4
JS1A
JS2A
JS3A
JS4A

IO2
CRM1
.c
nc
Back
plane
connector
Use
ce
nt
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IO1
TP
Connector
number
r.c
Connector
name
LED
om
Series 16/18MODEL B
Based on the Main B
Specification and
Series 21 Loader
Control Board
No
D For the main B specification the Series 16/18MODEL B

Name
Code
Function
FROM module
A20B29020082
FROM for macro
DRAM module
A20B29010940 to 0942
DRAM for system
A20B29020060 to 0061
A20B29020060 to 0061
A20B29000142 to 0143
PMC module
D For the Series 21

No
Name
Code
Function
FROM module
Not used for the Series 21.
DRAM module
A20B29010942
DRAM for system
A20B29020290
A20B29010290
PMC module
A20B29000142 to 0143
127
5. MAINTENANCE
B62443EN2/03
5.3.4
Series 16/18MODEL C
BRAKE
ESP
CNBK
CNPW
Brake output
Emergency stop
IO1
TP
CNWF
CNTP

IOLINK
AOUT
JD1A
JA8
Serial I/O LINK

JS1A
JS2A
JS3A
JS4A

CRM1
FBUS
5
Name
No
FROM module
DRAM module
IO2
Code
Function
A20B29020082
FROM for macro
A20B29010940 to 0942
DRAM for system
A20B29020070,
A20B29020061
A20B29020070,
A20B29020061
PMC module
A20B29000142 to 0143
.c
nc
Back
plane
connector
ce
nt
e
AMP1
AMP2
AMP3
AMP4
JNA
Use
r.c
Connector
number
om
Connector
name
LED
128
5. MAINTENANCE
B62443EN2/03
5.4
CONFIGURATION OF
LOADER CONTROL
BOARD OF THE
SERIES 16i/18i/21i
D Code
Code
om
Name
A20B81000190
r.c
D Connector location
ce
nt
e
JNA
FBUS backplane connector
JD1A
CA54
Use
CA54
Servo check
JD1A
I/O link
nc
.c
D Card location
Connector No.
Axis control card
CPU card
JNA
Connector
Connector
DIMM module
Socket
(provided on the CPU
card)
No.
Name
Code
Axis control card
A20B33000030
Function
Axis control
A20B33000031
2
CPU card
129
A20B33000070
Remarks
Four axes
Two axes
CNC control
486DX2
r.c
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.c
w
APPENDIX
om
A. PARAMETERS
B62443EN2/03
.c
nc
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nt
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r.c
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PARAMETERS
133
A. PARAMETERS
B62443EN2/03
A.1
.c
nc
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PARAMETERS
CLASSIFIED
ACCORDING TO
FUNCTIONS
This section lists parameters classified according to functions.

For details of each parameter, refer to the following CNC parameter
manuals :
FANUC Series 16/18
PARAMETER MANUAL
(B-61810E)
PARAMETER MANUAL
(B-62450E)
PARAMETER MANUAL
(B-62760EN)
FANUC Series 21/210
PARAMETER MANUAL
(B-62710EN)
PARAMETER MANUAL
(B-63090EN)
1. Parameters related to the reader/punch interface (RS232C)
2. Parameters related to program editing
3. Parameter related to external data input/output
4. Parameters related to controlled axes
5. Parameters related to the increment system
6. Parameters related to the coordinate system
7. Parameters related to rotation axes
8. Parameters related to return to the reference position
9. Parameters related to manual operation (jog)
10. Parameter related to cutting feed
11. Parameters related to rapid traverse
12. Parameters related to dry run
13. Parameters related to acceleration/deceleration
14. Parameters related to PMC axis control
15. Parameters related to manual handle feed
16. Parameters related to backlash
17. Parameters related to inposition check
18. Parameters related to interlock
19. Parameters related to stroke limit
20. Parameters related to the servo system
21. Parameters related to the absolute pulse coder
22. Parameters related to excessive errors
23. Parameters related to the CRT/MDI
24. Parameters related to display
25. Parameters related to DI/DO signals
26. Parameters related to clear and reset
27. Parameters related to miscellaneous functions
28. Parameter related to skip
29. Parameters related to macros
30. Parameters related to the position switch
31. Parameter related to DI/DO on the loader control board
32. Parameters related to multipath control
134
A. PARAMETERS
B62443EN2/03
1) Parameters for all channels

Parameter 0000, bit 0 :
Selects the specifications for TV check.
Selects the specifications for data output in ISO code.
Parameter 0020 :
Selects an I/O channel.
Selects the specifications for character counting for TV check
in the comment section.
Selects the specifications for EOB output in ISO code.
Selects specifications such that an alarm is raised upon
finding a null character while reading EIA codes.
2) Parameters related to channel 0
Selects the length of the stop bit.
Selects the specifications for data input in ASCII code.
Selects specifications such that no feed code is output either
before or after data.
Parameter 0102 :
Code number of an I/O device
Parameter 0103 :
Baud rate
3) Parameters related to channel 1
Selects the length of the stop bit.
Selects the specifications for data input in ASCII code.
Selects specifications such that no feed code is output either
before or after data.
Parameter 0112 :
Code number of an I/O device
Parameter 0113 :
Baud rate
4) Parameters related to program registration
Selects specifications such that only a single program is
registered on the reader/punch interface.
Selects specifications such that a program having the same
number as a registered program can be registered. (The
already registered program is deleted.)
Selects specifications such that M02, M30, or M99 is not
regarded as the end of program registration.
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Parameters related to the

reader/punch interface
(RS232C)
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A. PARAMETERS
B62443EN2/03
1) Automatically inserting a sequence number

Selects the function to automatically insert a sequence
number.
Parameter 3216 :
Sequence number increment applied when a number is
automatically inserted
2) Prohibiting program editing
Selects specifications such that the editing of programs 8000
to 8999 is inhibited.
Selects specifications such that the editing of programs 9000
to 9999 is inhibited.
Enables protected program number search.
3) Others
Selects specifications such that an address value input
without a decimal point is assumed to be in units of mm, inch,
or sec. (calculatortype decimal point input)
Parameter 6300, bit 4:
Enables external program number search.
Parameter related to
external data
input/output
Parameter 1010 :
Number of controlled CNC axes
Parameter 1020 :
Program axis name for each axis
Parameter 3131 :
Subscript for each axis name
Parameter 1022 :
Specifies the relationship between each axis and the basic
coordinate system.
Parameter 1023 :
Servo axis number for each axis
Selects specifications such that values are input in inches.
Selects specifications such that the least command increment
for a linear axis is specified in inches.
Selects specifications such that machine positions are
displayed according to the input system.
Selects specifications such that the relative position display
is preset by the coordinate system setting (G50).
Inhibits the input of a coordinate system shift using the MDI
keys.
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Parameters related to
controlled axes
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program editing

increment system

coordinate system
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A. PARAMETERS
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return to the reference
position

Selects a rotation axis.
Selects the rotation axis rollover function.
Direction of rotation for an absolute command
Selects specifications such that relative coordinates that do
not correspond to the amount of travel for a single rotation are
rounded.
Parameter 1260 :
Amount of travel corresponding to a single rotation of the
rotation axis (when bit 0 of parameter 1008 is set to 1)
1) Parameters related to a manual reference position return
Selects the dogless reference position return function.
Selects an axis of the dogless reference position return
function.
Direction of reference position return
Parameter 1240 :
Machine coordinates of first reference position
Selects whether manual rapid traverse can be executed before
the completion of a reference position return.
Parameter 1425 :
FL velocity during reference position return
Parameter 1836 :
Servo error required to establish a onerotation signal during
reference position return
Selects specifications such that deceleration occurs when
signals *DEC1 to *DEC4 are set to 1.
2) Parameters related to highspeed reference position return (third or
fourth reference position return is an option.)
Parameter 1240 :
Machine coordinates of the first reference position
Parameter 1241 :
Machine coordinates of the second reference position
Parameter 1242 :
Machine coordinates of the third reference position
Parameter 1243 :
Machine coordinates of the fourth reference position
3) Parameters related to automatic coordinate system setting
Enables the automatic coordinate system setting function.
Selects the parameter specifications of the coordinates of the
reference position with which the coordinate system is
automatically set.
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A. PARAMETERS
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Parameter 1250 :
Coordinates of the reference position
Parameter 1251 :
Coordinates of the reference position (when bit 1 of
parameter 1201 is set to 1 in inch input)
Number of axes that are simultaneously controlled in jog
mode
Parameter 1423 :
Jog feedrate
Parameter 1424 :
Jog rapid traverse rate
Parameter 1422 :
Maximum cutting feedrate
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manual operation (JOG)

Selects the linear interpolation positioning function.
Selects whether movement is stopped when the cutting
feedrate override becomes 0% during rapid traverse.
Selects whether a rapid traverse command can be executed
during a dry run.
Parameter 1420 :
Rapid traverse rate
Parameter 1421 :
F0 velocity of rapid traverse override
Selects the rapid traverse block overlap function.
Parameter 1722 :
Rapid traverse rate deceleration ratio for rapid traverse block
overlap
Selects whether a rapid traverse command can be executed
during a dry run.
Parameter 1410 :
Dry run speed
1) Rapid traverse linear acceleration/deceleration
Parameter 1620 :
Time constant for rapid traverse linear acceleration
/deceleration
2) Rapid traverse bellshaped acceleration/deceleration (optional)
Parameter 1620 :
Time constant T1 for rapid traverse bellshaped acceleration
/deceleration
Parameter 1621 :
Time constant T2 for rapid traverse bellshaped acceleration
/deceleration
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Parameters related to dry

run
acceleration/deceleration
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A. PARAMETERS
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PMC axis control
3) Exponential acceleration/deceleration during cutting feed

Parameter 1622 :
Time constant for exponential acceleration/deceleration
during cutting feed
Parameter 1623 :
FL velocity for exponential acceleration/deceleration during
cutting feed
4) Exponential acceleration/deceleration during jog feed
Parameter 1624 :
Time constant for exponential acceleration/deceleration
during jog feed
Parameter 1625 :
FL velocity for exponential acceleration/deceleration during
jog feed
Disables machine lock signal MLK under PMC axis control.
Selects specifications such that signals related to dry run and
override under PMC axis control are separate from the
signals for the CNC axes.
Enables a rapid traverse command to be executed during a
dry run under PMC axis control.
Selects a rapid traverse rate under PMC axis control.
Selects the units in which cutting feedrate is specified under
PMC axis control.
Parameter 8010 :
Selects the DI/DO group of axes under PMC axis control.
Enables a manual pulse generator in jog mode. Alternatively,
enables incremental feed in the handle or teach in handle
mode.
Enables a manual pulse generator in the TEACH IN JOG
mode.
Selects the direction of rotation for the manual pulse
generator and the direction of travel for each axis.
Parameter 7110 :
Number of manual pulse generators used
Parameter 7113 :
Magnification m of manual handle feed
Parameter 7114 :
Magnification n of manual handle feed
Selects whether separate backlash compensation is
performed for cutting feed and rapid traverse.
Parameter 1851 :
Backlash compensation
Parameter 1852 :
Backlash compensation during rapid traverse
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manual handle feed
backlash
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A. PARAMETERS
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stroke limit
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interlock

Disables inposition check during deceleration.
Selects a parameter for inposition width between cutting
blocks.
Parameter 1826 :
Inposition width
Parameter 1827 :
Inposition width between cutting blocks
Disables the interlock signal.
Disables the interlock signal for each axis.
Common
Selects whether an overtravel alarm is output before a limit
is reached.
Stored stroke limit 1
Enables switching signal EXLM of stored stroke limit 1.
Parameter 1320 :
Positive coordinate I of stored stroke limit 1
Parameter 1321 :
Negative coordinate I of stored stroke limit 1
Parameter 1326 :
Positive coordinate II of stored stroke limit 1
Parameter 1327 :
Negative coordinate II of stored stroke limit 1
Stored stroke limit 2 (optional)
Selects the stored stroke limit 2 prohibited area.
Selects whether the stored stroke limit 2 check function is
supported (within the prohibited area).
Parameter 1322 :
Positive coordinate of stored stroke limit 2
Parameter 1323 :
Negative coordinate of stored stroke limit 2
Stored stroke limit 3 (optional)
Selects whether the stored stroke limit check 3 function is
supported.
Parameter 1324 :
Positive coordinate of stored stroke limit 3
Parameter 1325 :
Negative coordinate of stored stroke limit 3
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4)
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A. PARAMETERS
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Enables the servo setting screen.
Suppresses an alarm when VRDY is set to on before PRDY
is set to on.
Parameter 1820 :
CMR
Parameter 1821 :
Capacity of reference counter
Parameter 1825 :
Servo loop gain
Parameter 1850 :
Grid shift
Highresolution bit
Automatic servo parameter setting
Parameter 2001 :
AMR
Parameter 2020 :
Motor type
Parameter 2021 :
Load inertia ratio
Parameter 2022 :
Direction of motor revolution
Parameter 2023 :
Number of velocity detection feedback pulses
Parameter 2024 :
Number of position detection feedback pulses
Parameter 2084 :
DMR numerator for flexible feed gear
Parameter 2085 :
DMR denominator for flexible feed gear
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servo system

absolute pulse coder
NOTE
All other parameters numbered between 2000 to 2999 are
automatically set, being adjusted by the user only when
required.

Determines the reference position.
Selects an absolute pulse coder.
Parameter 1860 :
APC counter value at the reference position
Parameter 1861 :
APC counter value at the reference position (continued from
parameter 1860)
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A. PARAMETERS
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display
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2)
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MDI
Parameter 1828 :
Position error limit during travel
Parameter 1829 :
Position error limit in stop state
Parameter 3410 :
Arc radius error limit
Selects the MDI keyboard.
Selects color display for the nineinch highresolution.
Display language
Selects Japanese as the display language. (optional)
Actual speed
Selects the specifications for actual speed display.
Selects specifications such that any movement of a PMC
controlled axis is not added to the actual speed display.
Program list display
Selects specifications such that the program list display
includes numbers and names.
Selects specifications such that the program list display
arranges numbers in ascending order.
Loader name
Parameter 3141 :
First character of loader name
Parameter 3142 :
Second character of loader name
Parameter 3143 :
Third character of loader name
Parameter 3144 :
Fourth character of loader name
Parameter 3145 :
Fifth character of loader name
Parameter 3146 :
Sixth character of loader name
Parameter 3147 :
Seventh character of loader name
Others
Selects specifications such that the program display screen
indicates a modal state.
Selects specifications such that the alarm/message screen is
not displayed when an alarm is issued or when an operator
message is input.
Selects specifications such that the current position of each
axis is not displayed.
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5)
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A. PARAMETERS
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DI/DO signals
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clear and reset

Selects the specifications for the reset and rewind signal
RRW.
Parameter 3017 :
Extended output period for reset signal RST
Selects specifications such that a reset clears a program
created in MDI mode.
Sets G01 mode at poweron and in the clear state.
Sets G98 mode at poweron and in the clear state.
Selects specifications such that the clear state is established
at reset.
Does not clear group number 01 when bit 6 of parameter 3402
is set to 1.
is set to 1.
is set to 1.
is set to 1.
is set to 1.
is set to 1.
is set to 1.
is set to 1.
Does not clear the F code when bit 6 of parameter 3402 is set
to 1.
Selects whether the highspeed MST method is used.
Parameter 3010 :
MF or SF delay
Parameter 3011 :
Width in which the completion signal FIN is accepted
Parameter 3030 :
Number of digits that can be specified for an M code
Parameter 3031 :
Number of digits that can be specified for an S code
miscellaneous functions
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A. PARAMETERS
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Parameter related to skip
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Selects specifications such that the beginning of a program
is not located by M02 in memory operation.
Enables a multiple M code command.
Parameter 3411 :
M code 1 not to be buffered
Parameter 3412 :
Parameter 3413 :
Parameter 3414 :
Parameter 3415 :
Parameter 3416 :
Parameter 3417 :
Parameter 3418 :
Parameter 3419 :
Parameter 3420 :
Enables dry run, overtravel, and automatic acceleration
/deceleration for a skip command.
1) Single block stop
Enables a single block stop by a custom macro statement.
2) Macro variable
Prohibits a macro variable from being input using the MDI
keys.
Selects specifications such that a reset does not clear macro
variables 100 to 149.
Selects specifications such that a reset does not clear macro
variables 1 to 33.
Parameter 6036 :
Number of custom macro variables shared by the loader and
NC (Variable numbers 100 to 149)
Parameter 6037 :
NC (Variable numbers 500 to 531)
WARNING
The values of parameters 6036 and 6037 must agree with
the corresponding NC values. Otherwise, normal operation
cannot be performed.
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A. PARAMETERS
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3) Subprogram call function (M198)

Selects specifications such that address P in the subprogram
call function indicates a program number.
Parameter 6030 :
M code of subprogram call function (When 0 is specified,
M198 is assumed.)
4) External output
Selects the specifications related to leading zeros in data
output by the DPRINT command.
Selects the specifications related to the end code after data
output in ISO code by the BPRINT or DPRINT command is
completed.
Parameter 6010 :
Sets the hole pattern corresponding to an EIA code
representing an asterisk (*).
Parameter 6011 :
representing an equal sign (=).
Parameter 6012 :
representing a sharp(#).
Parameter 6013 :
representing an opening square bracket ([).
Parameter 6014 :
representing a closing square bracket (]).
5) Custom macro call by a G code
Parameter 6050 :
G code for calling a custom macro of program number 9010
Parameter 6051 :
Parameter 6052 :
Parameter 6053 :
Parameter 6054 :
Parameter 6055 :
Parameter 6056 :
Parameter 6057 :
Parameter 6058 :
Parameter 6059 :
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A. PARAMETERS
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6) Subprogram call by an M code

Parameter 6071 :
M code for calling a custom macro of program number 9001
Parameter 6072 :
Parameter 6073 :
7) Subprogram call by an M code
Parameter 6080 :
Parameter 6081 :
Parameter 6082 :
Parameter 6083 :
Parameter 6084 :
Parameter 6085 :
Parameter 6086 :
Parameter 6087 :
Parameter 6088 :
Parameter 6089 :
8) Subprogram call by an ASCII code
Parameter 6090 :
ASCII code for calling a subprogram of program number
9004
Parameter 6091 :
ASCII code for calling a subprogram of program number
9005
9) Interrupttype custom macro
Sets absolute coordinates as skip coordinates when a custom
macro interrupt occurs.
Selects a custom macro interrupt type.
Selects the trigger method for interrupt signal UNIT for a
custom macro.
Selects M code numbers for enabling and disabling a custom
macro interrupt.
Selects how local variables of an interrupt program are
handled.
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A. PARAMETERS
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position switch
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Enables a custom macro interrupt during cyclic operation.
Enables an interrupttype custom macro.
Parameter 6033 :
M code that enables a custom macro interrupt
Parameter 6034 :
M code that disables a custom macro interrupt
10)Parameters related to custom macro variables shared by the loader
and NC
Parameter 6036 :
NC (macro numbers 100 to 149)
Parameter 6037 :
NC (macro numbers 500 to 531)
Parameter 6910 :
Axis corresponding to the first position switch
Parameter 6911 :
Axis corresponding to the second position switch
Parameter 6912 :
Axis corresponding to the third position switch
Parameter 6913 :
Axis corresponding to the fourth position switch
Parameter 6914 :
Axis corresponding to the fifth position switch
Parameter 6915 :
Axis corresponding to the sixth position switch
Parameter 6916 :
Axis corresponding to the seventh position switch
Parameter 6917 :
Axis corresponding to the eighth position switch
Parameter 6918 :
Axis corresponding to the ninth position switch
Parameter 6919 :
Axis corresponding to the tenth position switch
Parameter 6930 :
Maximum value for the operating area of the first position
switch
Parameter 6931 :
Maximum value for the operating area of the second position
switch
Parameter 6932 :
Maximum value for the operating area of the third position
switch
Parameter 6933 :
Maximum value for the operating area of the fourth position
switch
Parameter 6934 :
Maximum value for the operating area of the fifth position
switch
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A. PARAMETERS
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Parameter 6935 :
Maximum value for the operating area of the sixth position
switch
Parameter 6936 :
Maximum value for the operating area of the seventh position
switch
Parameter 6937 :
Maximum value for the operating area of the eighth position
switch
Parameter 6938 :
Maximum value for the operating area of the ninth position
switch
Parameter 6939 :
Maximum value for the operating area of the tenth position
switch
Parameter 6950 :
Minimum value for the operating area of the first position
switch
Parameter 6951 :
Minimum value for the operating area of the second position
switch
Parameter 6952 :
Minimum value for the operating area of the third position
switch
Parameter 6953 :
Minimum value for the operating area of the fourth position
switch
Parameter 6954 :
Minimum value for the operating area of the fifth position
switch
Parameter 6955 :
Minimum value for the operating area of the sixth position
switch
Parameter 6956 :
Minimum value for the operating area of the seventh position
switch
Parameter 6957 :
Minimum value for the operating area of the eighth position
switch
Parameter 6958 :
Minimum value for the operating area of the ninth position
switch
Parameter 6959 :
Minimum value for the operating area of the tenth position
switch
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A. PARAMETERS
B62443EN2/03

Enables matrix expansion for the loader operators panel.
multipath control

Makes the servo activation timing of the loader and NC
independent.
Selects whether a waiting M code is buffered.
Increases the number of loaderNC communication signals.
Parameter 8110 :
Range of waiting M codes (minimum)
Parameter 8111 :
Range of waiting M codes (maximum)
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DI/DO on the loader
control board
149
A. PARAMETERS
B62443EN2/03
A.2
DETAILS OF
PARAMETERS
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This section describes the special parameters that are provided for loader
control.
For details of the other parameters described in Section A.1, refer to
Series 16/18MODEL A Parameter Manual (B61810E),
Series 16/18/160/180MODEL B Parameter Manual (B62450E),
Series 16/18/160/180MODEL C Parameter Manual (B62760EN), or
Series 21/210 Parameter Manual (B62710EN)
Series 16i/18i/160i/180iMODEL A Parameter Manual (B63010EN)
or series 21i/210i MODELA Parameter Manual (B63090EN)
A.2.1
Loader name (first character)
3142
Loader name (second character)
3143
Loader name (third character)
3144
Loader name (fourth character)
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Parameters Related to
Loader Control
3145
Loader name (fifth character)
3146
Loader name (sixth character)
3147
Loader name (seventh character)
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Data type
: Bit
Set a loader name by using character codes. (Instead of the loader name
LC, an arbitrary character string, not longer than seven characters,
consisting of alphanumeric characters, katakana characters, and symbols
can be displayed on the CRT screen.)
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NOTE
1 For detailed information about the character codes, see the
character code correspondence table.
2 When character code 0 is set, LC is displayed.
[Example] Setting the loader name LOADER

Parameter No. 3141=76 (L)
Parameter No. 3142=79 (O)
Parameter No. 3143=65 (A)
Parameter No. 3144=68 (D)
Parameter No. 3145=69 (E)
Parameter No. 3146=82 (R)
Parameter No. 3147=00 ( )
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A. PARAMETERS
B62443EN2/03
#7
#6
#5
#4
#3
#2
7902
#1
#0 (bit)
MTX
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Data type
: Bit
MTX
Selects whether the loader operators panel input/output signals
of the loader control board (TDI01 to TDI08, TDO01 to
TDO06, TCOM1 to TCOM4) are expanded as a matrix in the
range of X1010 to X1013 and Y1010 to Y1013.
0 : Matrix expansion is not performed.
1 : Matrix expansion is performed.
A.2.2
6036
Number of custom macro variables shared by the loader and NC

(macro numbers 100 to 149)
Data type
: Byte
Unit of data
: Item
Valid data range : 0 to 50
Specify the number of custom macro variables 100 to 149 that are shared
by the loader and NC (custom macro variables shared by tool posts).
A custom macro variable that is shared by the loader and NC can be
written to and read from either the loader or NC.
[Example] When 10 is set in parameter 6036
#100 to #109 : Custom macro variables shared by the
loader and NC
#110 to #149 : Custom macro variables that are not
shared by the loader and NC
NOTE
When 0 is specified, none of custom macro variables 100
to 149 are shared by the loader and NC.
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Parameters Related to
Custom Macros
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CAUTION
1 When matrix expansion is performed, signals TDI1 to TDI8,
TDO1 to TDO6, and TCOM1 to TCOM4 cannot be used.
The DO signals of Y1010 to Y1013 are used for LEDs hence
cannot be used for on/off control.
2 The Series 16i/18i/21i does not support matrix expansion.
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A. PARAMETERS
B62443EN2/03
6037
Number of custom macro variables shared by the loader and NC

(macro numbers 500 to 531)
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Data type
: Byte
Unit of data
: Item
Valid data range : 0 to 32
Specify the number of custom macro variables 500 to 531 that are shared
by the loader and NC.
A custom macro variable shared by the loader and NC can be written to
and read from either the loader or NC.
[Example] When 10 is set in parameter 6037
#500 to #509 : Custom macro variables shared by the
loader and NC
#510 to #531 : Custom macro variables that are not
shared by the loader and NC
A.2.3
Multipath Control
Parameters
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NOTE
When 0 is specified, none of custom macro variables 500
to 531 are shared by the loader and NC.
#7
8100
NWP
#6
#5
#4
#3
#2
#1
#0
IAL
RST
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Data type
: Bit
RST
The reset key on the CRT/MDI panel is effective:
0 : For both the loader and NC.
1 : Only for the path displayed on the screen.
IAL
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CAUTION
When setting this parameter to 1, also set bit 0 of NC
parameter 8100 to 1.
NWP
When an NC alarm occurs during automatic operation, the

loader:
0 : Enters the feed hold state and stops.
1 : Continues automatic operation.
The servo activation timing is:
0 : The same for the loader and NC. (Reset processing
terminates only when the NC becomes ready for activation.)
1 : Different for the loader and NC.
CAUTION
When setting this parameter to 1, also set bit 7 of NC
parameter 8100 to 1.
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A. PARAMETERS
B62443EN2/03
#7
#6
#5
#4
#3
#2
#1
8101
#0
MWB
Data type
: Bit
MWB A waiting M code is:
0 : Buffered.
1 : Not buffered.
#6
#5
#4
#3
#2
#1
#0
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#7
8102
S19
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Data type
: Bit
S19
The PMC of the loader and NC use:
0 : 96 communication signals.
1 : 192 communication signals. (G1212 to G1219, G1252 to
G1255, F1212 to F1219, and F1252 to F1255 are used.)
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NOTE
When this parameter is changed, a powerdown request
occurs. Only the loader supports this parameter.
8110
Waiting M code range (minimum value)
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Data type
: 2 words
Valid data range : 0 and 100 to 99999999
This parameter specifies the minimum value of the waiting M code.
The waiting M code range is specified using parameter 8110 (minimum
value) and parameter 8111 (maximum value).
(parameter 8110) v (waiting M code) v (parameter 8111)
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NOTE
A value of 0 indicates that the waiting M code is not used.
8111
Waiting M code range (maximum value)
Data type
: 2 words
Valid data range : 0 and 100 to 99999999
This parameter specifies the maximum value of the waiting M code
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Index
B62443EN2/03
[A]
Addressing an I/O Link, 87
[I]
I/O Address Table, 99
[B]
I/O Signal Connection for Main Loader Unit Control,

18
Battery Interface for Absolute Pulse Coder, 29
Installation, 99
Boot System for Series 16/18MODEL B/C and Series 21TB, Series 16i/18i/21iMODEL A, 104
Installation Space and Mounting Holes, 100

Installing the Loader Control Functions, 3
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Brake Drive Output Interface, 29
[L]
[C]
Led Display on the Loader Control Board of the Series 16i/18i/21i, 124
Connecting a Workpiece Feeder, 93
LED Display Transition at PowerUp, 124
Connecting an Emergency Stop System, 96
LED Display Transition at Powerup, 123
Connecting an I/O Link, 65, 87
LED Display When an Error Occurs, 123, 125
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Configuration of Loader Control Board of the Series

16i/18i/21i, 130
Connecting the I/O Signals for Loader Control, 90
Loader Control Boader, 12
Connecting the Loader Control Board of The Series

16i/18i/21i, 61
Loader Control Board, 64
Connecting the Loader Operators Panel, 15, 88
Loader Control Board Led Display, 123
Connection, 9, 86, 88, 91, 94
Loader Control Functions, 112
Connection Between Units, 63

Connection Diagram, 23
Loader Control Board Builtin I/O Signal, 37
Loader Control Selection Signal, 121

Loader I/O Board, 86
Connector, 15, 19, 34, 86, 87, 88, 90, 93, 96
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LoaderNC Communication Signals, 120
Creating Programs In Teach In Mode, 117
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[D]
[M]
Maintenance, 122
Matrix Configuration, 17
Details of Parameters, 150
MDI Key Operation for Loader Control, 102
Definition of Warning, Caution, and Note, s1
Mounting on a DIN Rail, 100
DI/DO Signals (Function by Function), 40, 68
Multipath Control Parameters, 152
DI/DO Signals (In Order of Addresses), 46, 72
Multipath Wait Function with M Code (T Series

Only), 112
DI/DO Interface, 36, 67
[E]
[O]
Emergency Stop Control Circuit Interface, 33

Operation, 101
Emergency Stop System Connection, 30
Other Notes, 100
Emergency Stop System Connection (When a C Series Servo Amplifier is Used), 32
[P]
[G]
Parameters, 133
G Codes, 111
Parameters Classified According to Functions, 134

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Index
B62443EN2/03
Servo Interface (FSSB), 66
Parameters Related to Loader Control, 150
Servo System Connection, 22
PC Board Configuration, 126
Signals, 16, 20, 34
Position of LEDs, 124

Power Connection, 86
Signals for Interfacing with the Loader Control CNC,

39
Poweron, 102
Special Parameters to be Set, 110
Programming, 111
Starting the Loader Control, 104
Pulse Coder Interface, 28
Starting the NC and Loader Control, 107
om
Parameters Ralated to Custom Macros, 151
System Configuration, 2
[S]
Sample Connection of Emergency Stop System, 98
[T]
Screen Switching, 102
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Table of Specifications, 5
Series 16/18MODEL A Loader Control Board, 126
Total Connection, 10
Series 16/18MODEL B Loader Control Board Based

on the Main A Specification, 127
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on the Main B Specification, 129
[W]

on the Main B Specification and Series 21 Loader
Control Board, 128
Workpiece Feeder Connection, 34
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Servo Amplifier Interface, 26
When Loader Control is Added, 109
i2
Aug.,97
Aug., 96
Jun., 95
Date
03
02
01
evision
Revision Record
D Correction of errors
Contents
D Addition of Series 16/18/160/180MODEL C and Series

21TB
D Addition of Series 16i/18i/21i/160i/180i/210iMODEL A
Revision
Date
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nc
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Contents
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FANUC Series 21/16/18/160/180 LOADER CONTROL CONNECTION MANUAL (B62443EN2)
om
r.c
All specifications and designs

are subject to change without
notice.
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No part of this manual may be

reproduced in any form.
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LoaderControl 62443en2

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LoaderControl 62443en2

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GFZ-61443EN-2 B-61443EN-2

Presented By: CNC Center

Warnings, Cautions, and Notes

Copyright 1997 GE Fanuc Automation North America, Inc.

DEFINITION OF WARNING, CAUTION, AND NOTE

DEFINITION OF WARNING, CAUTION, AND NOTE

Read this manual carefully, and store it in a safe place.

Applicable CNC units:

FANUC Series 16TTA

FANUC Series 16GCA

FANUC Series 16MB

FANUC Series 16TB

FANUC Series 160MB

FANUC Series 160TB

FANUC Series 16MC

FANUC Series 16TA

FANUC Series 160MC

FANUC Series 160TC

FANUC Series 16A

FANUC Series 16TC

FANUC Series 160A

FANUC Series 18TA

FANUC Series 18TTA

FANUC Series 18GCA

FANUC Series 18MB

FANUC Series 18TB

FANUC Series 180MB

FANUC Series 180TB

FANUC Series 18MC

FANUC Series 18TC

FANUC Series 180MC

FANUC Series 180TC

FANUC Series 18A

FANUC Series 180A

FANUC Series 21TB

FANUC Series 21A

FANUC Series 210A

FANUC Series 16/18

FANUC Series 16/18 For Lathe

CONNECTION MANUAL (Hardware)

CONNECTION MANUAL (Function)

FANUC Series 16/18/160/180TB

FANUC Series 16/18/160/180MB

FANUC Series 16/18/160/180MODEL B

FANUC Series 16/18/160/180MODEL C

FANUC Series 16/18/160/180MODEL C

CONNECTION MANUAL (Hardware)

FANUC Series 16/18/160/180MODEL C

FANUC Series 16/18/160/180TC

FANUC Series 16/18/160/180MODEL B

FANUC Series 16/18

FANUC Series 16/18/160/180MODEL B

CONNECTION MANUAL (Function)

FANUC Series 16/18/160/180MC

FANUC Series 16/18/160/180MODEL C

FANUC Series 16/18/160/180MODEL C

CONNECTION MANUAL (Hardware)

FANUC Series 16i/18i/21i/160i/180i/210iMODEL A CONNECTION MANUAL (Function)

FANUC Series 16i/18i/160i/180iTA

FANUC Series 16i/18i/160i/180iMODEL A

FANUC Series 16i/18i/160i/180iMA

FANUC Series 21/210

CONNECTION MANUAL (Hardware)